Related papers: Enhanced Model-Free Dynamic State Estimation for a…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
Soft robotics is advancing the use of flexible materials for adaptable robotic systems. Membrane-actuated soft robots address the limitations of traditional soft robots by using pressurized, extensible membranes to achieve stable, large…
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…
The study discusses the design and fabrication of flexible pressure sensors using Ecoflex/Graphene composites. The fabricated sensor is used for the application of intuitive monitoring of human quality gaits and implementation of the soft…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
This paper presents the Dynamic Tactile Sensing System that utilizes robotic tactile sensing in conjunction with reinforcement learning to locate and characterize embedded inclusions. A dual arm robot is integrated with an optical Tactile…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
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…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
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…
This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…
Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to damage critical organs and cause complications. To better…
Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
This paper investigates the influence of the internal geometrical structure of soft pneu-nets on the dynamic response and hysteresis of the actuators. The research findings indicate that by strategically manipulating the stress distribution…