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As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
Fast and accurate underwater acoustic charting is crucial for downstream tasks such as environment-aware sensor placement optimization and autonomous vehicle path planning. Conventional methods rely on computationally expensive while…
This paper proposes a novel lightweight method using the multitaper power spectrum to estimate arousal levels at wearable devices. We show that the spectral slope (1/f) of the electrophysiological power spectrum reflects the scale-free…
Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
The excitation of microresonators using focused intensity modulated light, known as photothermal excitation, is gaining significant attention due to its capacity to accurately excite microresonators without distortions, even in liquid…
Capacitive pressure sensors have several advantages in areas such as robotics, automation, aerospace, biomedical and consumer electronics. We present mathematical modelling, finite element analysis (FEA), fabrication and experimental…
Piezoelectric Energy Harvesters (PEHs) are typically employed to provide additional source of energy for a sensing system. However, studies show that a PEH can be also used as a sensor to acquire information about the source of vibration by…
As satellites become smaller, the ability to maintain stable pointing decreases as external forces acting on the satellite come into play. At the same time, reaction wheels used in the attitude determination and control system (ADCS)…
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…
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic operations, proposing great potential for enhancing user…
Aeroelastic phenomena are gaining significant attention from the perspective of energy harvesting (EH) with promising applications in supplying low-power remote sensors. Besides the development of individual EH devices, further issues are…
All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
There is an increasing demand for intelligent processing on emerging ultra-low-power internet of things (IoT) devices, and recent works have shown substantial efficiency boosts by executing inference tasks directly on the IoT device (node)…
We have demonstrated atomically thin, quantum capacitance-limited, field-effect transistors (FETs) that enable the detection of pH changes with ~75-fold higher sensitivity (4.4 V/pH) over the Nernst value of 59 mV/pH at room temperature…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
Being aware of our body has great importance in our everyday life. This is the reason why we know how to move in a dark room or to grasp a complex object. These skills are important for robots as well, however, robotic bodily awareness is…
Implantable hydrogels should ideally possess mechanical properties matched to the surrounding tissues to enable adequate mechanical function while regeneration occurs. This can be challenging, especially when degradable systems with high…