Related papers: Acoustic Communication and Sensing for Inflatable …
Soft robotics is applicable to a variety of domains due to the adaptability offered by the soft and compliant materials. To develop future intelligent soft robots, soft sensors that can capture deformation with nearly infinite…
We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…
This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…
Spoken language interaction is at the heart of interpersonal communication, and people flexibly adapt their speech to different individuals and environments. It is surprising that robots, and by extension other digital devices, are not…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
Light-sound interactions have long been exploited in various acousto-optic devices based on bulk crystalline materials. Conventionally these devices operate in megahertz frequency range where the acoustic wavelength is much longer than the…
Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Surface Acoustic Wave gas sensors have garnered increasing attention as highly sensitive, miniaturized, and wireless compatible platforms for molecular detection. Their unique ability to convert surface perturbations into measurable…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Currently, most social robots interact with their surroundings and humans through sensors that are integral parts of the robots, which limits the usability of the sensors, human-robot interaction, and interchangeability. A wearable sensor…
Underwater communication is extremely challenging for small underwater robots which typically have stringent power and size constraints. In our previous work, we developed an artificial electrocommunication system which could be an…
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…