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Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
This work examines two ways of using proper orthogonal decomposition (POD) to enhance the prior work of EITPose, a device which uses electrical impedance tomography (EIT) to detect posture by way of a band of electrodes on the forearm.…
During daily activities, humans use their hands to grasp surrounding objects and perceive sensory information which are also employed for perceptual and motor goals. Multiple cortical brain regions are known to be responsible for sensory…
We study, theoretically and experimentally, electromagnetically induced transparency (EIT) in two different solid-state systems. Unlike many implementations in homogeneously broadened media, these systems exhibit inhomogeneous broadening of…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
This work presents a comprehensive theoretical comparison between absorption-based and electromagnetically induced transparency (EIT)-based atomic gradient sensing in a four-level tripod system. Both methods were evaluated under identical…
The Inverse Electrical Impedance Tomography (EIT) problem on recovering electrical conductivity tensor and potential in the body based on the measurement of the boundary voltages on the electrodes for a given electrode current is analyzed.…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
Distributed sensor arrays capable of detecting multiple spatially distributed stimuli are considered an important element in the realisation of exteroceptive and proprioceptive soft robots. This paper expands upon the previously presented…
Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with…
Electromagnetically induced transparency (EIT) is a promising technology for the enhancement of light-matter interactions, and recent demonstrations of the quantum EIT realized in artificial micro-structured medium have remarkably reduced…
Electrical impedance tomography (EIT) is a non-invasive imaging method for recovering the internal conductivity of a physical body from electric boundary measurements. EIT combined with machine learning has shown promise for the…
Transmission lines are essential components in various signal and power distribution systems. In addition to their main use as connecting elements, transmission lines can also be employed as continuous sensors for the measurement and…
Robots are traditionally bounded by a fixed embodiment during their operational lifetime, which limits their ability to adapt to their surroundings. Co-optimizing control and morphology of a robot, however, is often inefficient due to the…
Human-like embodied tactile perception is crucial for the next-generation intelligent robotics. Achieving large-area, full-body soft coverage with high sensitivity and rapid response, akin to human skin, remains a formidable challenge due…
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct…
Electrical impedance tomography is an imaging modality for extracting information on the interior structure of a physical body from boundary measurements of current and voltage. This work studies a new robust way of modeling the contact…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…