Related papers: A versatile flexure-based 6-axes force/torque sens…
Whereas a very large number of sensors are available in the automotive field, currently just a few of them, mostly proprioceptive ones, are used in telematics, automotive insurance, and mobility safety research. In this paper, we show that…
This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of…
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial force/torque (F/T) sensors have limited…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
Flexural mode vibrations of miniature piezoelectric tuning forks (TF) are known to be highly sensitive to superfluid excitations and quantum turbulence in $\mathrm{^3He}$ and $\mathrm{^4He}$ quantum fluids, as well as to the elastic…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
The dynamical properties of tensegrity robots give them appealing ruggedness and adaptability, but present major challenges with respect to locomotion control. Due to high-dimensionality and complex contact responses, data-driven approaches…
Effective force modulation during tissue manipulation is important for ensuring safe robot-assisted minimally invasive surgery (RMIS). Strict requirements for in-vivo distal force sensing have led to prior sensor designs that trade off ease…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Open source hardware has the potential to revolutionise the way we build scientific instruments; with the advent of readily-available 3D printers, mechanical designs can now be shared, improved and replicated faster and more easily than…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…
With their unique combination of characteristics - an energy density almost 100 times that of human muscle, and a power density of 5.3 kW/kg, similar to a jet engine's output - Nylon artificial muscles stand out as particularly apt for…
Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee manufacturing precision and efficiency. Nevertheless, the system model and parameters are difficult to be…
The tactile sensation of textiles is critical in determining the comfort of clothing. For remote use, such as online shopping, users cannot physically touch the textile of clothes, making it difficult to evaluate its tactile sensation.…
Superlubricity is a frictionless tribological state sometimes occurring in nanoscale material junctions. It is often associated with incommensurate surface lattice structures appearing at the interface. Here, by using the recently…
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across…