Related papers: Computational Design and Single-Wire Sensing of 3D…
This work introduces a contact interaction methodology for an unbiased treatment of contacting surfaces without assigning surfaces as master and slave. The contact tractions between interacting discrete segments are evaluated with respect…
Driven by the recent improvement in additive manufacturing technologies, we designed a detector that can be fully printed with a standard and commercial 3D printer. The main goals of this research concern the marginal design and…
Non-prehensile manipulation of diverse objects remains a core challenge in robotics, driven by unknown physical properties and the complexity of contact-rich interactions. Recent advances in contact-implicit model predictive control…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after…
Most additive manufacturing processes today operate by printing voxels (3D pixels) serially point-by-point to build up a 3D part. In some more recently-developed techniques, for example optical printing methods such as projection…
Mixed reality (MR) environments are bound to become ubiquitous as MR technology becomes lighter, higher resolution, more affordable, and overall becomes a seamless extension of our current work and living spaces. For research scientists and…
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…
Visual perception relies on inference of 3D scene properties such as shape, pose, and lighting. To understand how visual sensory neurons enable robust perception, it is crucial to characterize their selectivity to such physically…
Similar to Poisson's effect, mechanical coupling is a directional indirect response by a directional input loading. With the advance in manufacturing techniques of 3D complex geometry, architected materials with unit cells of finite volume…
3D print is a recently developed technique, for single-unit production, and for structures that have been impossible to build previously. The current work presents a method to 3D print polymer bonded isotropic hard magnets with a low-cost,…
We explore the potential of 3D metal printing to realize complex conductive terahertz devices. Factors impacting performance such as printing resolution, surface roughness, oxidation, and material loss are investigated via analytical,…
Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…
The ability to morph flat sheets into complex 3D shapes is extremely useful for fast manufacturing and saving materials while also allowing volumetrically efficient storage and shipment and a functional use. Direct 4D printing is a…
Metamaterials are artificially engineered devices that go beyond the properties of conventional materials in nature. Metamaterials allow the creation of negative refractive indexes, light trapping with epsilon-near-zero compounds, bandgap…
Recently, widespread 3D graphics (e.g., point clouds and meshes) have drawn considerable efforts from academia and industry to assess their perceptual quality by conducting subjective experiments. However, lacking a handy software for 3D…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
The rise in additive manufacturing comes with unique opportunities and challenges. Rapid changes to part design and massive part customization distinctive to 3D-Print (3DP) can be easily achieved. Customized parts that are unique, yet…
The importance of haptic in-sensor computing devices has been increasing. In this study, we successfully fabricated a haptic sensor with a hierarchical structure via the sacrificial template method, using carbon…