Related papers: FluxLab: Creating 3D Printable Shape-Changing Devi…
We introduce a novel shape-sensing method using Resistive Flex Sensors (RFS) embedded in cable-driven Continuum Dexterous Manipulators (CDMs). The RFS is predominantly sensitive to deformation rather than direct forces, making it a…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
The quality of 3D prints often varies due to different conditions inherent to each print, such as filament type, print speed, and nozzle size. Closed-loop process control methods improve the accuracy and repeatability of 3D prints. However,…
Fused filament fabrication is the method of choice for printing 3D models at low cost and is the de-facto standard for hobbyists, makers, and schools. Unfortunately, filament printers cannot truly reproduce colored objects. The best current…
Producing interactive 3D printed objects currently requires laborious 3D design and post-instrumentation with off-the-shelf electronics. Multi-material 3D printing using conductive PLA presents opportunities to mitigate these challenges. We…
The study of elastic structures embedded with fluid-filled cavities received considerable attention in fields such as autonomous materials, sensors, actuators, and smart systems. This work studies an elastic beam embedded with a set of…
Representing 3D shape in deep learning frameworks in an accurate, efficient and compact manner still remains an open challenge. Most existing work addresses this issue by employing voxel-based representations. While these approaches benefit…
Additive manufacturing, such as 3D printing, offers unparalleled opportunities for rapid prototyping of complex three-dimensional objects, but typically requires simultaneous building of solid supports to minimize deformation and ensure…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
We introduce DuoMorph, a design and fabrication method that synergistically integrates Fused Deposition Modeling (FDM) printing and pneumatic actuation to create novel shape-changing interfaces. In DuoMorph, the printed structures and…
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that…
Integration of both actuation and proprioception into the robot body would provide actuation and sensing in a single integrated system. Within this work, a manufacturing approach for such actuators is investigated that relies on 3D printing…
This work presents DLO-Splatting, an algorithm for estimating the 3D shape of Deformable Linear Objects (DLOs) from multi-view RGB images and gripper state information through prediction-update filtering. The DLO-Splatting algorithm uses a…
Fabricating existing and popular open-source adaptive robotic grippers commonly involves using multiple professional machines, purchasing a wide range of parts, and tedious, time-consuming assembly processes. This poses a significant…
We introduce Swarm Fabrication, a novel concept of creating on-demand, scalable, and reconfigurable fabrication machines made of swarm robots. We present ways to construct an element of fabrication machines, such as motors, elevator, table,…
Heat transfer simulations of the fused filament fabrication process are an important tool to predict bonding, residual stresses and strength of 3D printed parts. But in order to capture the significant thermal gradients that occur in the…
Freeform optical components offer significant compactization of multi-lens systems, as well as advanced manipulation of light that is not possible with traditional systems. However, their fabrication relies on machining processes that are…
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…