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Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
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…
Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and…
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is…
Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case,…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Characterizing the softness of deformable materials having partial elastic and partial viscous behaviour via soft lubrication experiments has emerged as a versatile and robust methodology in recent times. However, a straightforward…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
Dynamic manipulation of flexible objects such as fabric, which is difficult to modelize, is one of the major challenges in robotics. With the development of deep learning, we are beginning to see results in simulations and in some actual…
Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…