Related papers: Sensorized Soft Skin for Dexterous Robotic Hands
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in…
The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…
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…
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTIF hand, a novel multimodal and versatile…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
This study addresses the absence of an identification framework to quantify a comprehensive dynamic model of human and anthropomorphic tendon-driven fingers, which is necessary to investigate the physiological properties of human fingers…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape and the unique…
Electronic skin, a class of wearable electronic sensors that mimic the functionalities of human skin, has made remarkable success in applications including health monitoring, human-machine interaction and electronic-biological interfaces.…
Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to…
Robotic cloth manipulation remains challenging due to the high-dimensional state space of fabrics, their deformable nature, and frequent occlusions that limit vision-based sensing. Although dual-arm systems can mitigate some of these…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…
Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…