Related papers: Monitoring Electrostatic Adhesion Forces via Acous…
Electroadhesion (EA) has potential in robotics, automation, space missions, textiles, and tactile displays, but its physics remains underexplored due to limited models and experimental data. This thesis develops an electro-mechanical model…
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Electroadhesion (EA) provides electrically switchable adhesion and is a promising mechanism for perching micro aerial robots on smooth surfaces. However, practical implementations of soft and stretchable EA pads for aerial perching remain…
It has been demonstrated that acoustic-emission (AE), inspection of structures can offer advantages over other types of monitoring techniques in the detection of damage; namely, an increased sensitivity to damage, as well as an ability to…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Electrodermal activity (EDA) reflects changes in skin conductance, which are closely tied to human psychophysiological states. For example, EDA sensors can assess stress, cognitive workload, arousal, or other measures tied to the…
Soft adhesive pads are needed for many robotics applications, and one approach is based on electroadhesion. Here we present a general analytic model and numerical results for electroadhesion for soft solids with arbitrary time-dependent…
Atomic Force Microscopy (AFM) methods utilizing resonant mechanical vibrations of cantilevers in contact with a sample surface have shown sensitivities as high as few picometers for detecting surface displacements. Such a high sensitivity…
Acoustic levitation is frequently used for non-contact manipulation of objects and to study the impact of microgravity on physical and biological processes. While the force field produced by sound pressure lifts particles against gravity…
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast, robotic grinding systems typically rely on force sensing,…
The electroacoustic resonator is an effcient electro-active device for noise attenuation in enclosed cavities or acoustic waveguides. It is made of a loudspeaker (the actuator) and one or more microphones (the sensors). So far, the desired…
This document contains two presentations which describe the working principles of a class of electrostatic multidimensional sensors and force actuators. The subject of the study is the search of the most effective methods for measuring the…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
Acoustic emission (AE) is a widely used technology to study source mechanisms and material properties during high-pressure rock failure experiments. It is important to understand the physical quantities that acoustic emission sensors…
In this work we have performed an analysis of electrostriction mechanism of optical to acoustical energy conversion on the interface of two materials with low optical absorption. We compared this method of conversion with widely used…
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…
We demonstrate the trapping of elastic particles by the large gradient force of a single acoustical beam in three dimensions. Acoustical tweezers can push, pull and accurately control both the position and the forces exerted on a unique…
Passive monitoring of acoustic or radio sources has important applications in modern convenience, public safety, and surveillance. A key task in passive monitoring is multiobject tracking (MOT). This paper presents a Bayesian method for…