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Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
The last few decades have witnessed an emerging trend of wearable soft sensors; however, there are important signal-processing challenges for soft sensors that still limit their practical deployment. They are error-prone when displaced,…
This paper proposes a soft sensor embedded in a soft ring actuator with five fingers as a soft hand to identify the bifurcation of manipulated objects during the in-hand manipulation process. The manipulation is performed by breaking the…
This research provides the theoretical feasibility study of a novel architecture of a MEMS differential resonant accelerometer, with switchable and tunable electrostatic transmission between the proof mass and the vibrating sensing beams.…
The Otago Exercise Program (OEP) represents a crucial rehabilitation initiative tailored for older adults, aimed at enhancing balance and strength. Despite previous efforts utilizing wearable sensors for OEP recognition, existing studies…
Eigensystem Realization Algorithm (ERA) is a tool that can produce a reduced order model (ROM) from just input-output data of a given system. ERA creates the ROM while keeping the number of internal states to a minimum level. This was first…
Optical identification is often done with spatial or temporal visual pattern recognition and localization. Temporal pattern recognition, depending on the technology, involves a trade-off between communication frequency, range and accurate…
Balanced truncation (BT) is a model reduction method that utilizes a coordinate transformation to retain eigen-directions that are highly observable and reachable. To address realizability and scalability of BT applied to highly stiff and…
Evolution Strategy (ES) algorithms have shown promising results in training complex robotic control policies due to their massive parallelism capability, simple implementation, effective parameter-space exploration, and fast training time.…
Microelectromechanical systems (MEMS) have been applied to many measurement problems in physics, chemistry, biology and medicine. In parallel, cavity optomechanical systems have achieved quantum-limited displacement sensitivity and ground…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
This paper explores the problem of selecting sensor nodes for a general class of nonlinear dynamical networks. In particular, we study the problem by utilizing altered definitions of observability and open-loop lifted observers. The…
Event cameras offer microsecond latency, high dynamic range, and low power consumption, making them ideal for real-time robotic perception under challenging conditions such as motion blur, occlusion, and illumination changes. However,…
Despite significant advances in document understanding, determining the correct orientation of scanned or photographed documents remains a critical pre-processing step in the real world settings. Accurate rotation correction is essential…
We propose EVOlutionary Selector (EVOS), an efficient training paradigm for accelerating Implicit Neural Representation (INR). Unlike conventional INR training that feeds all samples through the neural network in each iteration, our…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
An analog automatic event recognition (AER) system can be realized by combining the technique of holographic image recognition with the process of temporal signal correlation employing stimulated photon echo in an ensemble of two-level…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
Active mode mismatch sensing and control can facilitate optimal coupling in optical cavity experiments such as interferometric gravitational wave detectors. In this paper, we demonstrate a radio-frequency (RF) beam wavefront curvature…