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Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that employs a compound-eye imaging system to combine…
This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution for the shape sensing of these devices.…
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…
Left ventricular assist devices (LVADs) can provide mechanical support for a failing heart as bridge to transplant and destination therapy. Physiological control systems for LVADs should be designed to respond to changes in hemodynamic…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
This paper presents a bio-inspired underwater whisker sensor for robust hydrodynamic disturbance detection and efficient signal analysis based on Physical Reservoir Computing (PRC). The design uses a tapered nylon spring with embedded…
Human-Computer Interaction (HCI) is a multi-modal, interdisciplinary field focused on designing, studying, and improving the interactions between people and computer systems. This involves the design of systems that can recognize,…
Bi-static sensing is crucial for exploring the potential of networked sensing capabilities in integrated sensing and communications (ISAC). However, it suffers from the challenging clock asynchronism issue. CSI ratio-based sensing is an…
Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…
In-wheel drive (IWD) systems enhance the responsiveness, traction, and maintenance efficiency of vehicles by enabling each wheel to operate independently. This paper proposes a novel robust torque-observed valve-based control (RTOVC)…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…
Medical electrophysiological sensors that can study the body and diagnose diseases depend on consistently low impedance electrode-skin interfaces. Clinical-standard wet electrodes use hydrogels and skin abrasion to improve the interface and…
In the past 10 years, two design innovations, the introduction of low internal gain (LGAD) and of resistive read-out (RSD), have radically changed the performance of silicon detectors. The LGAD mechanism, increasing the signal-to-noise…
We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…
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…
The increasing flexibility of modern large wind turbine blades necessitates cost-efficient and reliable structural monitoring solutions. For this purpose, we propose to use aerodynamic pressure measurements obtained via Aerosense, a novel,…
Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interaction, it is necessary to control the power delivered to the…
We present 3DTouch, a novel 3D wearable input device worn on the fingertip for 3D manipulation tasks. 3DTouch is designed to fill the missing gap of a 3D input device that is self-contained, mobile, and universally working across various 3D…