Related papers: Shape Sensing for Continuum Robotics using Optoele…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
The construction of highly incoherent frames, sequences of vectors placed on the unit hyper sphere of a finite dimensional Hilbert space with low correlation between them, has proven very difficult. Algorithms proposed in the past have…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
A shapeable planar Hall sensor has been fabricated by lift-off a bilayer structure of NiFe(10 nm)/IrMn (8 nm) grown on a Kapton/PDMS substrate without using a buffer layer. The sensor exhibits a magnetic field sensitivity of 0.74…
This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
In this paper, we present a novel synergistic framework for learning shape estimation and a shape-aware whole-body control policy for tendon-driven continuum robots. Our approach leverages the interaction between two Augmented Neural…
We present a novel method for reconstructing the shape of an object from measured gradient data. A certain class of optical sensors does not measure the shape of an object, but its local slope. These sensors display several advantages,…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
Sensor embedded glove systems have been reported to require careful, time consuming and precise calibrations on a per user basis in order to obtain consistent usable data. We have developed a low cost, flex sensor based smart glove system…
Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EIT-based tactile sensors face significant challenges during…
The growing adoption of lattice-based structures in soft robotics creates a need for advanced sensing solutions capable of monitoring their global deformation, particularly compression and extension. In this work, we address this challenge…
Fibre optic sensors (FOS) are an established technique for environmental and deformation monitoring in several areas like civil engineering, aerospace, and energy. Their immunity to electromagnetic and magnetic fields and nuclear…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…
This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered…
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,…