Related papers: Automated Continuous Force-Torque Sensor Bias Esti…
Intelligent wearable technology plays an increasingly important role in human-computer interaction, motion, and health monitoring. To ensure comfort and practicality of use, one common form for motion monitoring is to utilize soft wearable…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
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…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Medical applications of robots are increasingly popular to objectivise and speed up the execution of several types of diagnostic and therapeutic interventions. Particularly important is a class of diagnostic activities that require physical…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…
A methodology is presented for estimating average values for the temperature and the frictional traction over a tool-workpiece interface using measured values of force and torque applied to the tool. The approach was developed specifically…
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…
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…
The present work deals with determining the necessary parameters considering a three dimensional model to simulate in a realistic way the turning process on machine tool. This paper is dedicated to the study of the self-excited vibrations…
Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant…
Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
Fault detection at rotating machinery with the help of vibration sensors offers the possibility to detect damage to machines at an early stage and to prevent production downtimes by taking appropriate measures. The analysis of the vibration…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…