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Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…
This paper presents a novel sharp front-tracking method designed to address limitations in classical front-tracking approaches, specifically their reliance on smooth interpolation kernels and extended stencils for coupling the front and…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
The connection between friction and jamming in granular media, molecular glasses, and complex fluids is explored. The paper first reviews the way friction is measured, the types of results that are observed, and what is known about the…
The determination of the contact area is a key step to derive mechanical properties such as hardness or an elastic modulus by instrumented indentation testing. Two families of procedures are dedicated to extracting this area: on the one…
A variety of severe plastic deformation (SPD) techniques have been developed to process materials to high strains and impart microstructural refinement. High pressure torsion (HPT) is one technique that imparts inhomogeneous strain to…
A rigid-motion scattering computes adaptive invariants along translations and rotations, with a deep convolutional network. Convolutions are calculated on the rigid-motion group, with wavelets defined on the translation and rotation…
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…
The viscous evolution of a thin disc around a central object is considered. Such discs are described by self-similar solutions in which either all or none of the inflowing mass accretes. An approximate solution for the partial accretion…
We apply two theoretical and two numerical methods to the problem of a disk placed in a groove and subjected to gravity and a torque. Methods assuming rigid particles are indeterminate -- certain combinations of forces cannot be calculated,…
Understanding the contact between solid surfaces is a long standing problem which has a strong impact on the physics of many processes such as adhesion, friction, lubrication and wear. Experimentally, the investigation of solid/solid…
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…
Soft adhesive contacts are ubiquitous in nature and are increasingly used in synthetic systems, such as flexible electronics and soft robots, due to their advantages over traditional joining techniques. While methods to study the failure of…
We test whether the radii of circumstellar disks can be reliably determined in observations applying the results of a numerical simulation. Firstly, we execute a core collapse simulation which starts from a rotating magnetized spherical…
Macroscopic surface shapes, such as bumps and dents, as well as microscopic surface features, like texture, can be identified solely through lateral resistive force cues when a stylus moves across them. This perceptual phenomenon has been…
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…
Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…
In this thesis, we present an articulated, empirical view on what human music making is, and on how this fundamentally relates to computation. The experimental evidence which we obtained seems to indicate that this view can be used as a…
Temporomandibular joint plays a major role in everyday life allowing speaking and eating. This work aims to describe a method that combine several mechanical tests highlighting soft tissue properties, both local and global, through local…
We employ numerical simulations to understand the evolution of elastic standing waves in disordered frictional disk systems, where the dispersion relations of rotational sound modes are analyzed in detail. As in the case of frictional…