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Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
Handling non-rigid objects using robot hands necessities a framework that does not only incorporate human-level dexterity and cognition but also the multi-sensory information and system dynamics for robust and fine interactions. In this…
Complex and even chaotic dynamics, though prevalent in many natural and engineered systems, has been largely avoided in the design of electromechanical systems due to concerns about wear and controlability. Here, we demonstrate that complex…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
The isolated electronic spin system of the Nitrogen-Vacancy (NV) centre in diamond offers unique possibilities to be employed as a nanoscale sensor for detection and imaging of weak magnetic fields. Magnetic imaging with nanometric…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
To make physics experiments more directly relevant to everyday life and help students realize how their smart phones or tablets can be used as sensors for scientific measurements, we designed two introductory physics experiments to measure…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
Achieving fast, sensitive, and parallel measurement of a large number of quantum particles is an essential task in building large-scale quantum platforms for different quantum information processing applications such as sensing,…
Quantum sensors based on spin-defect relaxation have become powerful tools for detecting faint magnetic signals, yet their operation has remained largely confined to low magnetic fields and gigahertz frequencies. Extending such sensors into…
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…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
Levitated macroscopic particles exhibiting quantum mechanical effects are garnering increased attention as a means for precision sensing and testing quantum mechanics. Defects in diamond, such as the nitrogen-vacancy (NV) centre possess…
Single nitrogen-vacancy (NV) centers are widely used as nanoscale sensors for magnetic and electric fields, strain and temperature. Nanoscale magnetometry using NV centers allows for example to quantitatively measure local magnetic fields…
Attempts to install a rotating tool at the end of a robot arm poly-articulated date back twenty years, but these robots were not designed for that. Indeed, two essential features are necessary for machining: high rigidity and precision in a…
In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…