Related papers: Distributed Sensing Along Fibres for Smart Clothin…
Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…
Flex sensors are widely used in e-textiles for detecting joint motions and, subsequently, full-body movements. A critical initial step in utilizing these sensors is determining the optimal placement on the body to accurately capture human…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
Prototyping electronic textile (e-textile) involves embedding electronic components into fabrics to develop smart clothing with specific functionalities. However, this process is still challenging since the complicated wiring setup is…
The development of smart polymer materials is reviewed and illustrated. Important examples of these polymers include conducting polymers, ionic gels, stimulus-response be used polymers, liquid crystalline polymers and piezoelectric…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
A new class of sensing paradigm known as lab-onskin where stretchable and flexible smart sensor devices are integrated into the skin, provides direct monitoring and diagnostic interfaces to the body. Distributed lab-on-skin wireless sensors…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…
A finite element simulation of the mechanical behaviour of woven textile materials at the scale of individual fibers is proposed in this paper. The aim of the simulation is to understand and identify phenomena involved at different scales…
Electronic textiles (E-textiles) offer great wearing comfort and unobtrusiveness, thus holding potential for next-generation health monitoring wearables. However, the practical implementation is hampered by challenges associated with poor…
Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…
E-textiles has received tremendous attention in recent years due to the capability of integrating sensors into a garment to provide high precision sensing of the human body. Besides sensing, a number of solutions for e-textile garments have…
Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it…
Optical fibres constitute an exceptional sensing platform. However, standard fibres present an inherent sensing challenge: they confine light by design to an inner core. Consequently, nearly all distributed fibre sensors are restricted to…
People learn motor activities best when they are conscious of their errors and make a concerted effort to correct them. While haptic interfaces can facilitate motor training, existing interfaces are often bulky and do not always ensure…
Automatically detecting graspable regions from a single depth image is a key ingredient in cloth manipulation. The large variability of cloth deformations has motivated most of the current approaches to focus on identifying specific…
Fiber-optic sensing technologies based on transmission offer an alternative to scattering-based Distributed Acoustic Sensing (DAS). Being able to interrogate fibers that are thousands of kilometers long, opens opportunities for…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…