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Interferometers play a crucial role in high-precision displacement measurement such as gravitational-wave detection. Conventional interferometer designs require accurate laser alignment, including the laser pointing and the waist position,…
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…
The development of smart polymer materials is reviewed and illustrated. Important examples of these polymers include conducting polymers, ionic gels, stimulus-response be used polymers, liquid crystalline polymers and piezoelectric…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
In this paper, we report the development of an intensity modulated fiber optic sensor for angular displacement measurement. This sensor was designed to present high sensitivity, linear response, wide bandwidth and, furthermore, to be simple…
The fundamental problem of energy-efficient reallocation of mobile random sensors to provide full coverage without interference is addressed in this paper. We consider $n$ mobile sensors with identical sensing range placed randomly on the…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
A two-core transducer assembly using a Fe73.5Nb3Cu1Si13.5B9 ribbon to detect a change of magnetic field is proposed and tested for displacement (linear and angular) and current sensor. Two identical inductors, with the ribbon as core, are a…
This work presents a method of incorporating low-cost capacitive tactile sensors on a soft socially assistive robot platform. By embedding conductive thread into the robot's crocheted exterior, we formed a set of low-cost, flexible…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
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…
In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…
Direct and natural interaction is essential for intuitive human-robot collaboration, eliminating the need for additional devices such as joysticks, tablets, or wearable sensors. In this paper, we present a lightweight deep learning-based…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
Consider $n$ sensors placed randomly and independently with the uniform distribution in a $d-$dimensional unit cube ($d\ge 2$). The sensors have identical sensing range equal to $r$, for some $r >0$. We are interested in moving the sensors…