Related papers: Estimation of Soft Robotic Bladder Compression for…
This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…
We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing of a radio-transparent soft robot is used to control the…
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…
Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transition between different modes to adapt to various terrains. However, few amphibious robots can sense interactions with both…
Wearable robotic devices have potential to assist and protect their users. Toward design of a Smart Helmet, this article examines the effectiveness of audio and visual warnings to help participants brace for impacts. A user study examines…
Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft robots in surgical applications is reconstructing their…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
Micro scanning mirrors (MSM) extend the range and field of view of LiDARs, medical imaging devices, and laser projectors. However, a new class of soft-hinged MSMs contains out-of-plane translation in addition to the 2 degree-of-freedom…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
Recurrent neural networks can be large and compute-intensive, yet many applications that benefit from RNNs run on small devices with very limited compute and storage capabilities while still having run-time constraints. As a result, there…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In this work, we investigate constrained-layer damping (CLD) as a…
Telehealth and wearable equipment can deliver personal healthcare and necessary treatment remotely. One major challenge is transmitting large amount of biosignals through wireless networks. The limited battery life calls for low-power data…
Storing and sharing increasingly large datasets is a challenge across scientific research and industry. In this paper, we document the development and applications of Baler - a Machine Learning based data compression tool for use across…
We present NeckSense, a novel wearable system for head pose tracking that leverages multi-channel bio-impedance sensing with soft, dry electrodes embedded in a lightweight, necklace-style form factor. NeckSense captures dynamic changes in…
One of the limiting noise sources of ground-based gravitational wave detectors at frequencies below 30 Hz is control-induced displacement noise. Compact laser interferometric sensors are a prime candidate for improved local displacement…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
We present an IoT-based intelligent bed sensor system that collects and analyses respiration-associated signals for unobtrusive monitoring in the home, hospitals and care units. A contactless device is used, which contains four load sensors…
Despite advances in the programmable logic capabilities of modern trigger systems, a significant bottleneck remains in the amount of data to be transported from the detector to off-detector logic where trigger decisions are made. We…