Related papers: A Tactile Void
Tactile afferents such as (RA), and Pacinian (PC) afferents that respond to external stimuli enable complicated actions such as grasping, stroking and identifying an object. To understand the tactile sensation induced by these actions…
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…
The problem of a general, symmetric contact, between elastically similar bodies, and capable of idealisation using half-plane theory, is studied in the presence of interfacial friction. It is subject to a constant set of loads - normal…
The response to a localized force provides a sensitive test for different models of stress transmission in granular solids. The elasto-plastic models traditionally used by engineers have been challenged by theoretical and experimental…
We study the problem of rapidly identifying contact dynamics of unknown objects in partially known environments. The key innovation of our method is a novel formulation of the contact dynamics estimation problem as the joint estimation of…
We introduce a new transfer matrix method for calculating the thermodynamic properties of random-tiling models of quasicrystals in any number of dimensions, and describe how it may be used to calculate the phason elastic properties of these…
This article introduces XPLORER, a passive deformable UAV with a spring-augmented chassis and proprioceptive state awareness, designed to endure collisions and maintain smooth contact. We develop a fast-converging external force estimation…
The friction and adhesion between elastic bodies are strongly influenced by the roughness of the surfaces in contact. Here we develop a multiscale molecular dynamics approach to contact mechanics, which can be used also when the surfaces…
The mechanical properties of cells, which influence the properties of the tissue they belong to, are controlled by various mechanisms. Bi et al. theoretically demonstrated that density-independent rigidity transition occurs in…
The paper addresses the underlying source of two forms of induced anisotropy in granular materials: contact orientation anisotropy and contact force anisotropy. A rational, mathematical structure is reviewed for the manner in which fabric…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
Optomechanics with semi-transparent membrane multi-oscillators in a high-finesse cavity is an established solution for designing the dispersive interaction, and reaching many achievements, such as the study of non-linear dynamics, heat…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…
Understanding contact between rough surfaces undergoing plastic deformation is crucial in many applications. We test Persson's multiscale contact mechanics theory for elastoplastic solids, assuming a constant penetration hardness. Using a…
Two-dimensional (2D) mechanical models of confluent tissues have related the mechanical state of a monolayer of cells to the average perimeter length of the cell cross sections, predicting floppiness or rigidity of the material. For the…
We study the deflection and fluctuations of a clamped elastic fiber embedded in 2D foam under quasistatic flow. At all times, the fiber conformation results from the elasto-capillary interactions with the foam. We independently measure the…
We present a physics-based framework to simulate porous, deformable materials and interactive tools with haptic feedback that can reshape it. In order to allow the material to be moulded non-homogeneously, we propose an algorithm to change…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
This paper advances an analytical incremental contact model for the purely elastic or elastic-perfectly plastic Gaussian rough surfaces. The contact is modelled by the accumulation of identical circular contacts with radius given by the…