Related papers: A versatile flexure-based 6-axes force/torque sens…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
Turbines are crucial to our energy infrastructure, and ensuring their bearings function with minimal friction while often supporting heavy loads is vital. Vibrations within a bearing can signal the presence of defects, friction, or…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…
Cable-driven exosuits have the potential to support individuals with motor disabilities across the continuum of care. When supporting a limb with a cable, force sensors are often used to measure tension. However, force sensors add cost,…
Although conventional GelSight-based tactile and force/torque sensors excel in detecting objects' geometry and texture information while simultaneously sensing multi-axis forces, their performance is limited by the camera's lower frame…
Scaling tactile sensing for robust whole-body manipulation is a significant challenge, often limited by wiring complexity, data throughput, and system reliability. This paper presents a complete architecture designed to overcome these…
The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force…
Flexible strain sensors are critical to several potential intelligent applications, such as human-machine interfaces, soft robotics, human motion detection, and safety monitoring of components. Stretchable functional materials are important…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
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…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…
Flexible tendon sheath mechanism is commonly used in NOTES systems because it offers high flexibility, light weight, and easy transmission. Due to the size constraints and sterilization problems, traditional sensors like force/torque sensor…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…