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The attention mechanism is a pivotal element within the transformer architecture, making a substantial contribution to its exceptional performance. Within this attention mechanism, Softmax is an imperative component that enables the model…
The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…
Rapid prototyping is an emerging technology for the fast make of engineering components. A common technique is to laser cut a two-dimensional (2D) part from polymethyl methacrylate (PMMA) sheet. However, both manufacturing defects and…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFRH). The force control and adaptation algorithm is intuitive…
Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…
Maximally Smooth Functions (MSFs) are a form of constrained functions in which there are no inflection points or zero crossings in high order derivatives. Consequently, they have applications to signal recovery in experiments where signals…
The main drawback for the application of the conforming Argyris FEM is the labourious implementation on the one hand and the low convergence rates on the other. If no appropriate adaptive meshes are utilised, only the convergence rate…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
One-dimensional function approximation is a fundamental problem in scientific computing and engineering applications. While neural networks possess powerful universal approximation capabilities, their optimization process is often hindered…
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…
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…
Teleoperation is often limited by the ability of an operator to react and predict the behavior of the robot as it interacts with the environment. For example, to grasp small objects on a table, the teleoperator needs to predict the position…
The recently proposed soft finite element method (SoftFEM) reduces the stiffness (condition numbers), consequently improving the overall approximation accuracy. The method subtracts a least-square term that penalizes the gradient jumps…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
Active microelectromechanical systems can couple the nanomechanical domain with the electronic domain by integrating electronic sensing and actuation mechanisms into the micromechanical device. This enables very fast and sensitive…
Human grasps can be roughly categorized into two types: power grasps and precision grasps. Precision grasping enables tool use and is believed to have influenced human evolution. Today's multi-fingered robotic hands are effective in power…
We consider the reliable implementation of high-order unfitted finite element methods on Cartesian meshes with hanging nodes for elliptic interface problems. We construct a reliable algorithm to merge small interface elements with their…
This paper presents the SP-Diff parallel gripper system, addressing the limited adaptability of conventional end-effectors in intelligent industrial automation. The proposed design employs an innovative differential linkage mechanism with a…
The advantages introduced by carbon fiber reinforced polymer (CFRP) composites has made them an appropriate choice in many applications and an ideal replacement for conventional materials. The benefits using CFRP composites are due to their…