Related papers: A tuned mass amplifier for enhanced haptic feedbac…
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the…
Recently, the pinching antenna systems (PASS) have attracted significant attention due to their ability to exploit dynamically reconfigurable pinching points along waveguides for flexible signal transmission. However, existing work largely…
Haptic feedback is critical in a broad range of human-machine/computer-interaction applications. However, the high cost and low portability/wearability of haptic devices remain unresolved issues, severely limiting the adoption of this…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arrays. This paper proposes SuperMag, a tactile shape…
Received signal strength based radio tomographic imaging is a popular device-free indoor localization method which reconstructs the spatial loss field of the environment using measurements from a dense wireless network. Existing methods…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
Hand-held haptic devices can allow for greater freedom of motion and larger workspaces than traditional grounded haptic devices. They can also provide more compelling haptic sensations to the users' fingertips than many wearable haptic…
Dynamical instabilities can amplify small perturbations into measurable signals, offering a route to quantum-enhanced sensing. This mechanism was experimentally demonstrated in a collective-spin system with quadratic interactions, described…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Pseudo-haptics techniques are interesting alternatives for generating haptic perceptions, which entails the manipulation of haptic perception through the appropriate alteration of primarily visual feedback in response to body movements.…
The focus in this paper is an analysis of existing state of the arts directed toward the development of the next generation of vibration damping systems. The research work concentrates on an investigation related to…
In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification…
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…
Recent studies have developed tunable topological elastic metamaterials to maximize performance in the presence of varying external conditions, adapt to changing operating requirements, and enable new functionalities such as a programmable…
Earables, such as True Wireless Stereo earphones and VR/AR headsets, are increasingly popular, yet their compact design poses challenges for robust voice-related applications like telecommunication and voice assistant interactions in noisy…
Intuitive control of synthesis processes is an ongoing challenge within the domain of auditory perception and cognition. Previous works on sound modelling combined with psychophysical tests have enabled our team to develop a synthesizer…
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…
Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered…