Related papers: A Tactile Void
This study computationally investigates the elastic interaction of two pressurized cylindrical cavities in a 2D hyperelastic medium. Unlike linear elasticity, where interactions are exclusively attractive, nonlinear material models…
We introduce a contact law for the normal force generated between two contacting, elastically anisotropic bodies of arbitrary geometry. The only requirement is that their surfaces be smooth and frictionless. This anisotropic contact law is…
Non-equilibrium and active effects in mesoscopic scale systems have heralded a new era of scientific inquiries, whether concerning meta-materials or biological systems such as bacteria and cellular components. At mesoscopic scales,…
We simulate an optomechanical system via a cavity QED scenario with a movable atom and investigate its application in the tiny mass sensing. We find that the steady-state solution of the system exhibits a multiple stability behavior, which…
Quite a few future high precision space missions for testing Special and General Relativity will use optical resonators which are used for laser frequency stabilization. These devices are used for carrying out tests of the isotropy of light…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
Vision-based tactile sensors encode object data via optical signals, capturing microscale deformations using elastomer through densely arranged optical imaging sensors to detect subtle data variations. To enable continuous contact…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
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…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…
Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…
Understanding and harnessing the coupling between lubrication pressure and elasticity provides materials design strategies for applications such as adhesives, coatings, microsensors, and biomaterials. Elastic deformation of compliant solids…
This work aims to describe a mathematical model and a numerical method to simulate a thin anisotropic composite membrane moving and deforming in 3D space under a dynamic load of an arbitrary time and space profile. The model and the method…
We amplify previous arguments why mean curvature should be used as measure of integration in calculating the effective bending rigidity of fluid membranes subjected to a weak background curvature. The stiffening of the membrane by its…
Electroadhesion has emerged as a viable technique for displaying tactile feedback on touch surfaces, particularly capacitive touchscreens found in smartphones and tablets. This involves applying a voltage signal to the conductive layer of…
The tensile force along a cylindrical lipid bilayer tube is proportional to the membrane's bending modulus and inversely proportional to the tube radius. We show that this relation, which is experimentally exploited to measure bending…
Recent years have witnessed the development of so-called relaxation tribometers, the free oscillation of which is altered by the presence of frictional stresses within the contact. So far, analysis of such oscillations has been restricted…
In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…