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This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential applications in variable stiffness robotic finger design. The…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Graphene-based 2D heterostructures exhibit excellent mechanical and electrical properties, which are expected to exhibit better performances than graphene for nanoelectromechanical pressure sensors. Here, we built the pressure sensor models…
In vivo measurement of the mechanical properties of thin-walled soft tissues (e.g., mitral valve, artery and bladder) and in situ mechanical characterization of thin-walled artificial soft biomaterials in service are of great challenge and…
The flexible capacitive pressure sensors are one of the most essential and famous devices with vast applications in automobile, aerospace, marine, healthcare, wearables, consumer, and portable electronics. The fabrication of pressure…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Measuring the resistance fluctuations of gas sensors provides new opportunities to enhance the selectivity and sensitivity of the sensor. Taking advantage of this possibility requires special low-noise measurement hardware and software to…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
We present an investigation of inkjet printed strain gauges based on two-dimensional (2D) materials. The technology leverages water-based and biocompatible inks to fabricate strain measurement devices on flexible substrates such as paper.…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
We present multi-component knitted resistive sensors for tracking tensile force. The knits were fabricated using a Twill structure, which is a simple pattern featuring anisotropic elastic behavior, providing high stability along…
Nanoscale engineered materials combined with wearable wireless technologies can deliver a new level of health monitoring. A reduced graphene oxide-nylon composite material is developed and tested, demonstrating its usefulness as a material…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
We introduce a novel apparatus designed for stress-controlled rheometers to perform simultaneous rheological and electrical measurements on strongly conductive complex fluids under shear. By means of a non-toxic liquid metal at room…
Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactions, as i.e. detection of edges. This…
Elastic filaments are vital to biological, physical and engineering systems, from cilia driving fluid in the lungs to artificial swimmers and micro-robotics. Simulating slender structures requires intricate balance of elastic, body, active,…
The excellent electronic and mechanical properties of graphene provide a perfect basis for high performance flexible electronic and sensor devices. Here, we present the fabrication and characterization of flexible graphene based Hall…
Wearable biosensors have revolutionized human performance monitoring by enabling real-time assessment of physiological and biomechanical parameters. However, existing solutions lack the ability to simultaneously capture breath-force…