Related papers: Shape Sensing for Continuum Robotics using Optoele…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
Due to their flexibility, dexterity, and compact size, Continuum Manipulators (CMs) can enhance minimally invasive interventions. In these procedures, the CM may be operated in proximity of sensitive organs; therefore, requiring accurate…
Visuotactile sensing technology has received much attention in recent years. This article proposes a feature detection method applicable to visuotactile sensors based on continuous marker patterns (CMP) to measure 3-d deformation. First, we…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
Shape tracking of medical devices using strain sensing properties in optical fibers has seen increased attention in recent years. In this paper, we propose a novel guidance system for intra-arterial procedures using a distributed strain…
Current methods to estimate object shape---using either vision or touch---generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary…
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…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
We propose and theoretically study a new hollow-core fiber-based curvature sensor with the capability of detecting both bending magnitude and angle (direction). The new sensor relies on a tubular-lattice fiber that encompasses, in its…
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
In this work, we propose a novel single-end morphing capacitive sensing method for shape tracking, FxC, by combining Folding origami structures and Capacitive sensing to detect the morphing structural motions using state-of-the-art sensing…
External contact force is one of the most significant information for the robots to model, control, and safely interact with external objects. For continuum robots, it is possible to estimate the contact force based on the measurements of…
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Flexible needle insertion procedures are common for minimally-invasive surgeries for diagnosing and treating prostate cancer. Bevel-tip needles provide physicians the capability to steer the needle during long insertions to avoid vital…
This paper presents a shape-aware whole-body control framework for tendon-driven continuum robots with direct application to endoluminal surgical navigation. Endoluminal procedures, such as bronchoscopy, demand precise and safe navigation…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…