Related papers: Shape Sensing for Continuum Robotics using Optoele…
This paper presents a simple and effective method for setting parameters for an input shaper to suppress the residual vibrations in flexible robot arms using a data-driven approach. The parameters are adaptively tuned in the workspace of…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…
In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Enabling dexterous manipulation and safe human-robot interaction, soft robots are widely used in numerous surgical applications. One of the complications associated with using soft robots in surgical applications is reconstructing their…
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This limitation motivates the design of a…
We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated before use. Using computer aided design (CAD), a robot skin…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity…
This work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacitance changes, enabling proprioceptive feedback for soft…
We propose OrbCam, a lensless architecture for imaging with spherical sensors. Prior work in lensless imager techniques have focused largely on using planar sensors; for such designs, it is important to use a modulation element, e.g.…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
For assembly tasks, it is essential to firmly fix target parts and to accurately estimate their poses. Several rigid jigs for individual parts are frequently used in assembly factories to achieve precise and time-efficient product assembly.…
Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…
We present a zero-shot deformation reconstruction framework for soft robots that operates without any visual supervision at inference time. In this work, zero-shot deformation reconstruction is defined as the ability to infer object-wide…