Related papers: Step-Change in Friction under Electrovibration
Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…
The influence of fatiguing stimuli applied to the quadriceps femoris on the tremor of the index finger on sixteen healthy subjects has been investigated, by measuring the acceleration and the electromyography activity of the extensor…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…
Contact line friction (CLF) of bubbles is ubiquitous, from bubbles on a beer glass to H2 bubbles sliding over electrodes in electrolysis. However, a fundamental understanding of CLF of bubbles is still missing, mainly due to the challenge…
The real area of contact of a frictional interface changes rapidly when the normal load is altered, and evolves slowly when normal load is held constant, aging over time. Traditionally, the total area of contact is considered a proxy for…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
The tribology between surfaces can have a profound impact on the response of a mechanical system, such as how granular particles are driven to flow. In this work, we perform experiments that time-resolve the tangential and normal components…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
The classical Hertzian contact model establishes a monotonic correlation between contact force and area. Here, we showed that the interplay between local friction and structural instability can deliberately lead to unconventional contact…
We report a study about the electrical response from a sliding contact made of a silver-graphite brush and a brass ring. This study focuses specifically on the voltage variations due to the mechanical interactions across the contact…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
An overview of computer simulations of tribology is presented. The chapter begins with a brief overview of simulation techniques and the special requirements for simulations of tribological processes. Then simple one-dimensional models of…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
The absence of physical information during hand-object interaction in a virtual environment diminishes realism and immersion. Kinesthetic haptic feedback has proven effective in delivering realistic object-derived haptic cues, enhancing the…
We present an experimental investigation of the non stationary frictional properties of multicontact interfaces between rough elastomers and rough hard glass at low velocities (<= 200 mu m s^{-1}). These systems, for which the deformation…
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…
Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…
Variable power transmission in mechanical systems is often achieved by devices, e.g., clutches and brakes, that use dry friction. In these systems, the variability in power transmission is brought about by engaging and disengaging the…