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Estimation of interactive forces, which are mostly unavailable for direct measurement on the interface between a system and its environment, is an essential task in various motion control applications. This paper proposes an interactive…
Stress tracing is an important research domain that supports many applications, such as health care and stress management; and its closest related works are derived from stress detection. However, these existing works cannot well address…
Timely stress detection is crucial for protecting vulnerable groups from long-term detrimental effects by enabling early intervention. Wearable devices, by collecting real-time physiological signals, offer a solution for accurate stress…
Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems. At each sampling instant, an STC mechanism determines not only the control inputs but also the next sampling…
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
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.…
The integration of compressive sensing with real-time embedded systems opens new possibilities for efficient, low-power biomedical signal acquisition. This paper presents a custom hardware platform based on the RP2350 micro-controller,…
The increasing penetration of renewable energy resources in distribution systems necessitates high-speed monitoring and control of voltage for ensuring reliable system operation. However, existing voltage control algorithms often make…
Conductive elastomers present desirable qualities for sensing pressure in-vivo, such as high piezoresistance in tiny volumes, conformability and, biocompatibility. Many PDMS-based electrically conductive nanocomposites however, are…
Room temperature superconductivity remains elusive, and hydrogen-base compounds despite remarkable transition temperatures(Tc) typically require extreme pressures that hinder application. To accelerate discovery under moderate pressures, an…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
Quadrupedal locomotion plays a critical role in enabling agile, versatile movement across complex terrains. Understanding and estimating the underlying physical dynamics are essential for achieving efficient and stable quadrupedal…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
In this work, a localized artificial-viscosity/diffusivity method is proposed for accurately capturing discontinuities in compressible flows. There have been numerous efforts to improve the artificial diffusivity formulation in the last two…
Flexible endoscopic robots enable minimally invasive access through natural orifices, but their control accuracy is limited by configuration-dependent hysteresis in the tendon-sheath mechanisms (TSMs). Tendon-sheath friction and tendon…
Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…
Interior permanent magnet synchronous machine drives are widely employed in electric traction systems and various industrial processes. However, prolonged exposure to high temperatures while operating can demagnetize the permanent magnets…
Additive manufacturing, particularly fused deposition modeling, is transforming modern production by enabling rapid prototyping and complex part fabrication. However, its layer-by-layer process remains vulnerable to faults such as nozzle…
Our research presents a wearable Silent Speech Interface (SSI) technology that excels in device comfort, time-energy efficiency, and speech decoding accuracy for real-world use. We developed a biocompatible, durable textile choker with an…
Underwater flow sensing is critical for unmanned underwater vehicles (UUVs) and environmental monitoring, yet existing sensors often suffer from low responsiveness, high detection thresholds, limited directional discrimination, complex…