Related papers: High sensitivity and full-circle optical rotary se…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collaborative robots suffers from poor…
We have developed a mechanical absolute-rotation sensor capable of resolving ground rotation angle of less than 1 nrad$/\sqrt{\text{Hz}}$ above $30$ mHz and 0.2 nrad$/\sqrt{\text{Hz}}$ above $100$ mHz about a single horizontal axis. The…
In this paper, we propose a novel non-contact vibration measurement system that is competent in estimating linear and/or rotational motions of machine parts. The technique combines microwave radar, standard camera, and optical strobe to…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
In this letter, an advanced stretchable optical waveguide sensor is implemented into a multidirectional PneuNet soft actuator to enhance dynamic state estimation through a NARX neural network. The stretchable waveguide featuring a…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Self-mixing interferometry (SMI) has been lauded for its sensitivity in detecting microvibrations, while requiring no physical contact with its target. In robotics, microvibrations have traditionally been interpreted as a marker for object…
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…
We present a theoretical proposal and simulation study of a digital closed-loop thermal atomic-beam interferometer for inertial navigation applications. The scheme synchronizes phase biasing with momentum-kick reversal through the atomic…
This study describes a unique optical approach for the noncontact measurement of linear and angular displacement. Compared to previous methods, the sensor system here based on the dual-beam phase-modulated feedback interferometry provides…
We propose a mechanism to use nonlinearity arising from inter-particle interactions to significantly enhance rotation sensitivity of matter-wave interferometers. The method relies on modifying Sagnac interferometers by introducing a weak…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…
We study nonlinear interferometry applied to a measurement of atomic spin and demonstrate a sensitivity that cannot be achieved by any linear-optical measurement with the same experimental resources. We use alignment-to-orientation…
We experimentally demonstrate a novel interferometric architecture for next-generation gravity missions, featuring a laser ranging interferometer (LRI) that enables monoaxial transmission and reception of laser beams between two optical…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
Nanomechanical devices have attracted the interest of a growing interdisciplinary research community, since they can be used as highly sensitive transducers for various physical quantities. Exquisite control over these systems facilitates…
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
The exquisite precision of atom interferometers has sparked the interest of a large community for use cases ranging from fundamental physics to geodesy and inertial navigation. However, their practical use for onboard applications is still…