Related papers: A Flexible FBG-Based Contact Force Sensor for Robo…
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we propose a palpation-based method for tissue stiffness…
A novel approach which uses Fibre Bragg Grating (FBG) sensors has been utilised to assess and monitor the flatness of Gaseous Electron Multipliers (GEM) foils. The setup layout and preliminary results are presented.
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
External contact force is one of the most significant information for the robots to model, control, and safely interact with external objects. For continuum robots, it is possible to estimate the contact force based on the measurements of…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
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…
We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure…
Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as a robotic arm gripping an object or even the contact between two bones at our knee joints. The ability to naturally…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
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…