Related papers: Self-Mixing Laser Interferometry for Robotic Tacti…
We present an interferometric sensor for investigating macroscopic quantum mechanics on a table-top scale. The sensor consists of pair of suspended optical cavities with a finesse in excess of 100,000 comprising 10 g fused-silica mirrors.…
Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…
To enhance robotic grasping capabilities, we are developing new contactless fingertip sensors to measure distance in close proximity and simultaneously detect the type of material and the interior structure. These sensors are referred to as…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
We proposed a new type of tactile sensor that is capable of determining the surface morphology of skin lesions. The sensor consists of a brass cylinder with an axial bore. Three peripheral bobbins were machined in the cylinder around which…
The effectiveness of self-mixing interferometry has been demonstrated across the electromagnetic spectrum, from visible to microwave frequencies, in a plethora of sensing applications, ranging from distance measurement to material analysis,…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet…
High-resolution tactile sensors have become critical for embodied perception and robotic manipulation. However, a key challenge in the field is the lack of transferability between sensors due to design and manufacturing variations, which…
Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback,…
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…
Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However,…
Tactile information plays a crucial role for humans and robots to interact effectively with their environment, particularly for tasks requiring the understanding of contact properties. Solving such dexterous manipulation tasks often relies…
Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
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…
We experimentally demonstrate a novel interferometric architecture for next-generation gravity missions, featuring a laser ranging interferometer (LRI) that enables monoaxial transmission and reception of laser beams between two optical…
In humans, the tactile perception of fine textures is mediated by skin vibrations when scanning the surface with the fingertip. These vibrations are encoded by specific mechanoreceptors, Pacinian corpuscules (PCs), located about 2 mm below…
In this paper, we show that an atom interferometer inertial sensor, when associated to the auxiliary measurement of external vibrations, can be operated beyond its linear range and still keep a high acceleration sensitivity. We propose and…