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Electrical impedance tomography is an imaging modality for extracting information on the conductivity distribution inside a physical body from boundary measurements of current and voltage. In many practical applications, it is a priori…
Multi-frequency Electrical Impedance Tomography (mfEIT) represents a promising biomedical imaging modality that enables the estimation of tissue conductivities across a range of frequencies. Addressing this challenge, we present a novel…
An efficient computational approach for optimal reconstruction of binary-type images suitable for models in various applications including biomedical imaging is developed and validated. The methodology includes derivative-free optimization…
Controlling the optical response of a medium through suitably tuned coherent electromagnetic fields is highly relevant in a number of potential applications, from all-optical modulators to optical storage devices. In particular,…
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…
The regularized D-bar method is a popular method for solving Electrical Impedance Tomography (EIT) problems due to its efficiency and simplicity. It utilizes the low-pass truncated scattering data in the non-linear Fourier domain to solve…
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…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…
Electrical contact resistance or capacitance as measured between a lubricated contact has been used in tribometers, partially reflecting the lubrication condition. In contrast, the electrical impedance provides rich information of magnitude…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Emotion recognition is essential for applications in affective computing and behavioral prediction, but conventional systems relying on single-modality data often fail to capture the complexity of affective states. To address this…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
We consider the problem of the detection of brain hemorrhages from three dimensional (3D) electrical impedance tomography (EIT) measurements. This is a condition requiring urgent treatment for which EIT might provide a portable and quick…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
Optical metasurfaces provide novel solutions to label-free biochemical sensing by localizing light resonantly beyond the diffraction limit, thereby selectively enhancing light-matter interactions for improved analytical performance.…
We exploit the deformation of drops spinning in a denser background fluid to investigate the effective interfacial tension (EIT) between miscible molecular fluids. We find that for sufficiently low interfacial tension, spinning drops…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…