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Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
Electrical Impedance Tomography (EIT) is an emerging non-invasive medical imaging modality. It is based on feeding electrical currents into the patient, measuring the resulting voltages at the skin, and recovering the internal conductivity…
In this paper, we present a discussion on the algorithms design of Electrical Impedance Tomography (EIT) for biomedical applications. Based on the Maxwell differential equations and the derived the finite element(FE) linear equations, we…
This paper presents a static electrical impedance tomography (EIT) technique that evaluates abdominal obesity by estimating the thickness of subcutaneous fat. EIT has a fundamental drawback for absolute admittivity imaging because of its…
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that…
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…
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…
Electrical Impedance Tomography (EIT) provides a non-invasive, portable imaging modality with significant potential in medical and industrial applications. Despite its advantages, EIT encounters two primary challenges: the ill-posed nature…
For elastomer-based tactile sensors, represented by visuotactile sensors, routine calibration of mechanical parameters (Young's modulus and Poisson's ratio) has been shown to be important for force reconstruction. However, the reliance on…
The Efficient Adaptive Transformer (EAT) framework unifies three adaptive efficiency techniques - progressive token pruning, sparse attention, and dynamic early exiting - into a single, reproducible architecture for input-adaptive…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…
Humans rely on multimodal perception to form representations of the world. This implies that environmental stimuli must remain consistent and predictable throughout their journey to our sensory organs. When it comes to vision,…
Electrical Impedance Tomography (EIT) is a powerful tool for non-destructive evaluation, state estimation, and process tomography - among numerous other use cases. For these applications, and in order to reliably reconstruct images of a…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
Tactile sensing typically involves active exploration of unknown surfaces and objects, making it especially effective at processing the characteristics of materials and textures. A key property extracted by human tactile perception is…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
In the long pursuit of smart robotics, it has been envisioned to empower robots with human-like senses, especially vision and touch. While tremendous progress has been made in image sensors and computer vision over the past decades, the…
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…