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Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasping and in-hand manipulation. We propose a novel sensor…
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…
The rising global prevalence of skin conditions, some of which can escalate to life-threatening stages if not timely diagnosed and treated, presents a significant healthcare challenge. This issue is particularly acute in remote areas where…
The integration of visual-tactile stimulus is common while humans performing daily tasks. In contrast, using unimodal visual or tactile perception limits the perceivable dimensionality of a subject. However, it remains a challenge to…
We found that the specific dispersion of metal-insulator-metal (MIM) waveguide allows the hybridization of surface plasmon polaritons (SPPs) and the waveguide, which is not possible with dielectric waveguides. The SPP-MIM hybridization…
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…
Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
The development of smart polymer materials is reviewed and illustrated. Important examples of these polymers include conducting polymers, ionic gels, stimulus-response be used polymers, liquid crystalline polymers and piezoelectric…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…
Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…
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…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Active visual perception refers to the ability of a system to dynamically engage with its environment through sensing and action, allowing it to modify its behavior in response to specific goals or uncertainties. Unlike passive systems that…
Future health systems require the means to assess and track the neural and physiological function of a user over long periods of time and in the community. Human body responses are manifested through multiple modalities, such as the…
Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…