Related papers: Miniature Fibre-Optic based Shape Sensing for Robo…
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…
We introduce a modified corner cube reflector that encodes information from passive optical sensors in its retroreflected diffraction pattern, enabling remote sensor-state measurement over a single-ended optical link. The design interferes…
A coherent, short-length reference arm reflectometer, which utilizes a 76-MHz repetition rate mode-locked fiber laser, was investigated experimentally for long fiber links (> 10 km). The reflectometer combines the advantages of optical…
Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
In this work we present a refractive index sensor based on the leaky radiation of a microfiber. The 5.3um diameter microfiber is fabricated by drawing a commercial optical fiber. When the microfiber is immersed into a liquid with larger…
We present the measurement of squeezed light generation using an engineered optomechanical system fabricated from a silicon microchip and composed of a micromechanical resonator coupled to a nanophotonic cavity. Laser light is used to…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
We design, test, and analyze fiber-optic voltage sensors based on optical reflection from a piezoelectric transducer. By controlling the physical dimensions of the device, we can tune the frequency of its natural resonance to achieve a…
Optical microresonators have proven powerful in a wide range of applications, including cavity quantum electrodynamics, biosensing, microfludics, and cavity optomechanics. Their performance depends critically on the exact distribution of…
In this study, we present a wireless (non-contact) gesture recognition method using only incoherent light wave signals reflected from a human subject. In comparison to existing radar, light shadow, sound and camera-based sensing systems,…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
We present a differentiable framework to adaptively compute 4D illumination conditions with respect to an object, for efficient, high-quality simultaneous acquisition of its shape and reflectance, with a unified spatial-angular structured…
In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention.…
We present the experimental reconstruction of sub-wavelength features from the far-field intensity of sparse optical objects: sparsity-based sub-wavelength imaging combined with phase-retrieval. As examples, we demonstrate the recovery of…
We develop a polarization characterization platform for optical devices in free-space quantum communications. We demonstrate an imaging polarimeter, which analyzes both incident polarization states and the angle of incidence, attached to a…
Optical coherence tomography (OCT) uses low-coherence reflectometry to obtain cross-sectional images of inhomogeneous media, such as biological tissue. OCT is particularly useful in the biomedical ea, since the imaging can be performed…
Robotic autonomy at centimeter scale requires compact and miniaturization-friendly actuation integrated with sensing and neural network processing assembly within a tiny form factor. Applications of such systems have witnessed significant…
We have theoretically proposed a highly compact refractive-index sensor consisted of edge-cavity and line-defect waveguide in two-dimensional photonic crystal. The sensing object is completely outside of the single enclosed surface of the…