Related papers: Passive and Active Acoustic Sensing for Soft Pneum…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile information. We evaluate different sound representations and learning…
Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…
This paper introduces a novel Soft Acoustic Curvature (SAC) sensor. SAC incorporates integrated audio components and features an acoustic channel within a flexible structure. A reference acoustic wave, generated by a speaker at one end of…
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising…
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…
Soft sensing is a way to indirectly obtain information of signals for which direct sensing is difficult or prohibitively expensive. It may not \textit{a priori} be evident which sensors provide useful information about the target signal,…
Transmission of real-time data is strongly increasing due to remote processing of sensor data, among other things. A route to meet this demand is adaptive sensing, in which sensors acquire only relevant information using pre-processing at…
In this paper, we present an acoustic database, designed to drive and support research on voiced enabled technologies inside moving vehicles. The recording process involves (i) recordings of acoustic impulse responses, acquired under static…
Universal jamming grippers excel at grasping unknown objects due to their compliant bodies. Traditional tactile sensors can compromise this compliance, reducing grasping performance. We present acoustic sensing as a form of morphological…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…
Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep…
Recent advances in active noise control have enabled the development of hearables with spatial selectivity, which actively suppress undesired noise while preserving desired sound from specific directions. In this work, we propose an…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
Unmanned air vehicles often produce significant noise from their propulsion systems. Using this broadband signal as "acoustic illumination" for an auxiliary sensing system could make vehicles more robust at a minimal cost. We present an…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…