Related papers: High sensitivity and full-circle optical rotary se…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
We describe an inertial rotation sensor with a 30-cm cylindrical proof-mass suspended from a pair of 14-${\mu}$m thick BeCu flexures. The angle between the proof-mass and support structure is measured with a pair of homodyne interferometers…
Optical rotation, a form of optical activity, is a phenomenon employed in various metrological applications and industries including chemical, food, and pharmaceutical. In naturally-occurring, as well as structured media, the integrated…
Torque sensors such as the torsion balance enabled the first determination of the gravitational constant by Cavendish and the discovery of Coulomb's law. Torque sensors are also widely used in studying small-scale magnetism, the Casimir…
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,…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
Laser remote sensing represents a powerful tool that enables the accurate measurement of the speed of moving targets. Crucially, most sensing techniques are 2-Dimensional and only enable direct determination of the speed along the line of…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
We experimentally demonstrate a method for measuring correlations of wideband magnetic signals with spatial resolution below the optical diffraction limit. Our technique employs two nitrogen-vacancy (NV) centers in diamond as nanoscale…
A self-oscillating magnetometer based on nonlinear magneto-optical rotation using amplitude-modulated pump light and unmodulated probe light (AM-NMOR) in 87Rb has been constructed and tested towards a goal of airborne detection of magnetic…
Laser self-mixing is in principle a simple and robust general purpose interferometric method, with the additional expressivity which results from nonlinearity. However, it is rather sensitive to unwanted changes in target reflectivity,…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…
Using light to measure an object's motion is central to operating mechanical sensors that probe forces and fields. Cavity optomechanical systems embed mechanical resonators inside optical resonators. This enhances the sensitivity of…
The intrinsically non-linear rotation dynamics of rigid bodies offer unprecedented ways to exploit their quantum motion. In this Letter we devise a rotational analog of Mach-Zehnder interferometry, which allows steering symmetric rotors…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
An inertial sensor design is proposed in this paper to achieve high sensitivity and large dynamic range in the sub-Hz frequency regime. High acceleration sensitivity is obtained by combining optical cavity readout systems with…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
This paper proposes a soft sensor embedded in a soft ring actuator with five fingers as a soft hand to identify the bifurcation of manipulated objects during the in-hand manipulation process. The manipulation is performed by breaking the…