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Traditional glass-based optics are typically optimized for narrow spectral bands, such as the visible (400-700nm) or shortwave infrared (1000-1800nm). While the emergence of VIS-SWIR sensors (400-1700nm) offers transformative potential,…
Using light as a probe to detect a mechanical motion is one of the most successful experimental approaches in physics. The history of mechanical sensing based on the reflection, refraction and scattering of light dates back to the 16th…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
The visualization of pure phase objects by wavefront sensing has important applications ranging from surface profiling to biomedical microscopy, and generally requires bulky and complicated setups involving optical spatial filtering,…
Ring-core optical fibers have been designed to carry orbital angular momentum modes. We demonstrate the imaging of these modes, individually identifying modes separated temporally by only 30~ps. A single-pixel camera operating in the…
A technique to measure microscopic rotational motion is presented. When a small fluorescent polystyrene microsphere is attached to a larger polystyrene microsphere, the larger sphere acts as a lens for the smaller microsphere and provides…
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniature cameras. The associated field of view and focal length,…
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…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
We propose OrbCam, a lensless architecture for imaging with spherical sensors. Prior work in lensless imager techniques have focused largely on using planar sensors; for such designs, it is important to use a modulation element, e.g.…
Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…
The significant optical and size benefits of using a curved focal surface for imaging systems have been well studied yet never brought to market for lack of a high-quality, mass-producible, curved image sensor. In this work we demonstrate…
Levitated oscillators with millimeter or sub-millimeter size are particularly attractive due to their potential role in studying various fundamental problems and practical applications. One of the crucial issues towards these goals is to…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
A microscope based on the Linnik interferometer was designed, built, and tested. Two methods were used for interference pattern measurement: phase-shifting and polarized single-shot methods. The former uses a low coherence light emitting…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
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…
Curved refractive objects are common in the human environment, and have a complex visual appearance that can cause robotic vision algorithms to fail. Light-field cameras allow us to address this challenge by capturing the view-dependent…
In this paper, we propose a lensless compressive sensing imaging architecture. The architecture consists of two components, an aperture assembly and a sensor. No lens is used. The aperture assembly consists of a two dimensional array of…