Related papers: Ori-Sense: origami capacitive sensing for soft rob…
Digital coding metasurfaces have revolutionized electromagnetic (EM) manipulation, yet typical tunable approaches based on active components suffer from the "volatility" bottleneck. While mechanical modulation provides a potential solution,…
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…
Origami metamaterial design enables drastic qualitative changes in the response properties of a thin sheet via the addition of a repeating pattern of folds based around a rigid folding motion. Known also as a mechanism, this folding motion…
Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
We find a closed-form expression for the Poisson's coefficient of curved-crease variants of the ``Miura ori'' origami tessellation. This is done by explicitly constructing a continuous one-parameter family of isometric piecewise-smooth…
For traditional capacitive pressure sensors, high nonlinearity and poor sensitivity greatly limited their sensing applications. Hence, an innovative design of capacitors based on spiral comb electrodes is proposed for high-sensitivity…
In this paper, a capacitive flexible tactile sensor was designed to measure the pressure of objects based on MEMS technology. This sensor is a structure of a 4x4 array, with metal Ag as the capacitive electrode, which forms the tactile…
Thick origami structures are considered here as assemblies of polygonal panels hinged to each other along their edges according to a corresponding origami crease pattern. The determination of the internal actions caused by external loads in…
As robotics advances toward integrating soft structures, anthropomorphic shapes, and complex tasks, soft and highly stretchable mechanotransducers are becoming essential. To reliably measure tactile and proprioceptive data while ensuring…
Non-rigid origami patterns could provide more versatile performance than their rigid counterparts in the design of mechanical metamaterials owing to the simultaneous deformation of facets and creases, but their complex deformation modes…
An inertial sensor design is proposed in this paper to achieve high sensitivity and large dynamic range in the sub-Hz frequency regime. High acceleration sensitivity is obtained by combining optical cavity readout systems with…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
Periodic origami patterns made with repeating unit cells of creases and panels bend and twist in complex ways. In principle, such soft modes of deformation admit a simplified asymptotic description in the limit of a large number of cells.…
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…
Current architectured cellular cushion materials rely mainly on damage and/or unpredictable collapse of their unit cells to absorb and dissipate energy under impact. This prevents shape recovery and produces undesirable force fluctuations…
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…
Recent advancements in soft robots, human-machine interfaces, and wearable electronics have led to an increased demand for high-performance soft tactile sensors. Tomographic tactile sensor based on resistive coupling is a novel contact…
This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from…