Related papers: Multi-Contact Force-Sensing Guitar for Training an…
We present a novel approach to synthesize dexterous motions for physically simulated hands in tasks that require coordination between the control of two hands with high temporal precision. Instead of directly learning a joint policy to…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
Classically, the quantity of contact area $A_R$ between two bodies is considered a proxy for the force of friction. However, bond density across the interface - quality of contact - is also relevant, and contemporary debate often centers…
Tactile perception plays an important role in activities of daily living, and it can be impaired in individuals with certain medical conditions. The most common tools used to assess tactile sensation, the Semmes-Weinstein monofilaments and…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Distributed sensor arrays capable of detecting multiple spatially distributed stimuli are considered an important element in the realisation of exteroceptive and proprioceptive soft robots. This paper expands upon the previously presented…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
We study the detection of weak coherent forces by means of an optomechanical device formed by a highly reflecting isolated mirror shined by an intense and highly monochromatic laser field. Radiation pressure excites a vibrational mode of…
An increasing number of experiments require the use of ultrasensitive nanomechanical resonators. Relevant examples are the investigation of quantum effects in mechanical systems [1] or the detection of exceedingly small forces as in…
Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable initial estimate. Starting a grasp with too little force…
Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…
We discuss a proposal to measure the Casimir force in the parallel plate configuration in the $1-10\mu$m range via a high-sensitivity torsional balance. This will allow to measure the thermal contribution to the Casimir force therefore…
We have performed an experimental characterization of the dynamics of oscillating quartz tuning forks which are being increasingly used in scanning probe microscopy as force sensors. We show that tuning forks can be described as a system of…
Traditionally, clinicians use tuning forks as a binary measure to assess vibrotactile sensory perception. This approach has low measurement resolution, and the vibrations are highly variable. Therefore, we propose using vibrations from a…
Stochastic physics is a central pillar of modern research in many fields, but is rarely presented to undergrad students in a hands-on experiment. Here, we demonstrate how a human-scale, simple, and affordable experimental setup can be used…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
An objective measurement of chronic itch is necessary for improvements in patient care for numerous medical conditions. While wearables have shown promise for scratch detection, they are currently unable to estimate scratch intensity,…
Prosthetic arms and hands that can be controlled by the user's electromyography (EMG) signals are emerging. Eventually, these advanced prosthetic devices will be expected to touch and be touched by other people. As realistic as they may…
In this work we present a new approach for the task of predicting fingerings for piano music. While prior neural approaches have often treated this as a sequence tagging problem with independent predictions, we put forward a checklist…
Categorization is crucial for content description in archiving of music signals. On many occasions, human brain fails to classify the instruments properly just by listening to their sounds which is evident from the human response data…