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Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
In recent years there has been an explosive development of interest in the measurement of forces at the microscopic level, such as within living cells, as well as the properties of fluids and suspensions on this scale, using optically…
We report the development of an ultrasensitive optomechanical sensor designed to improve the accuracy and precision of force measurements with atomic force microscopy. The sensors reach quality factors of 4.3x10^6 and force resolution on…
The precise measurement of temperature is crucial in various fields such as biology, medicine, industrial automation, energy management, and daily life applications. While in most scenarios, sensors with a fixed thermal conductivity…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…
Optomechanical systems have been exploited in ultrasensitive measurements of force, acceleration, and magnetic fields. The fundamental limits for optomechanical sensing have been extensively studied and now well understood -- the intrinsic…
A high sensitivity force sensor based on dielectric microspheres in vacuum, optically trapped by a single, upward-propagating laser beam, is described. Off-axis parabolic mirrors are used both to focus the 1064~nm trapping beam and to…
Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present \textbf{Moir\'eTac}, a dual-mode sensor that generates dense…
The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment.…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
This study presents a novel approach for touch sensing using semi-elastic textile surfaces that does not require the placement of additional sensors in the sensing area, instead relying on sensors located on the border of the textile. The…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…
Human skin can accurately sense the self-decoupled normal and shear forces when in contact with objects of different sizes. Although there exist many soft and conformable tactile sensors on robotic applications able to decouple the normal…
Luminescence thermometry and manometry are exponentially growing areas dealing with the optical detection of temperature and pressure, respectively, being appealing alternatives for conventional thermometers and manometers. The main benefit…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…
A well-known approach to the optical measure of oxygen is based on the quenching of luminescence by molecular oxygen. The main challenge for this measuring method is the development of an accurate mathematical model. Typically, this is…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…