Related papers: Compact LED-Based Displacement Sensing for Robot F…
Consider $n$ mobile sensors placed independently at random with the uniform distribution on a barrier represented as the unit line segment $[0,1]$. The sensors have identical sensing radius, say $r$. When a sensor is displaced on the line a…
This paper presents the theory and key experimental findings for an investigation into the generation of bimodal resonance (frequency splitting) phenomena in mutually over-coupled inductive sensors, and its exploitation to evaluate relative…
We report on the realization of a displacement sensor based on an optical nanofiber. A single gold nano-sphere is deposited on top of a nanofiber and the system is placed within a standing wave which serves as a position ruler. Scattered…
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
In this paper, the authors propose a two-dimensional, wide dynamic range, linear displacement sensor using microwave methods. The microwave sensor circuit employs a cylindrical dielectric resonator proximity coupled to a pair of orthogonal…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
The measurement of extremely small displacements is of utmost importance, both for fundamental studies [1-4], and practical applications [5-7]. One way to estimate a small displacement is to measure the Doppler shift generated in light…
Sub-nanometer displacement detection lays the solid foundation for critical applications in modern metrology. In-plane displacement sensing, however, is mainly dominated by the detection of differential photocurrent signals from…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
As the fields of optical microscopy, semiconductor technology and fundamental science increasingly aim for precision at or below the nanoscale, there is a burgeoning demand for sub-nanometric displacement and position sensing. We show that…
A sensor is a device that converts a physical parameter or an environmental characteristic (e.g., temperature, distance, speed, etc.) into a signal that can be digitally measured and processed to perform specific tasks. Mobile robots need…
In this paper, we propose and analyze a waveguide-integrated interferometric sensor in which interference occurs between two plasmonic modes propagating in a single plasmonic waveguide. For the purpose of sensing, the vertical plasmonic…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
This paper proposes a soft sensor embedded in a soft ring actuator with five fingers as a soft hand to identify the bifurcation of manipulated objects during the in-hand manipulation process. The manipulation is performed by breaking the…
Displacement measuring interferometry is a crucial component in metrology applications. In this paper, we propose a fiber-based two-wavelength heterodyne interferometer as a compact and highly sensitive displacement sensor that can be used…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Sensor embedded glove systems have been reported to require careful, time consuming and precise calibrations on a per user basis in order to obtain consistent usable data. We have developed a low cost, flex sensor based smart glove system…