Related papers: Acoustic Feedback for Closed-Loop Force Control in…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
Robust audio-visual speech recognition (AVSR) in noisy environments remains challenging, as existing systems struggle to estimate audio reliability and dynamically adjust modality reliance. We propose router-gated cross-modal feature…
Quantum control techniques applied at macroscopic scales provide us with opportunities in fundamental physics and practical applications. Among them, measurement-based feedback allows efficient control of optomechanical systems and…
Reliable brain-computer interface (BCI) control of robots provides an intuitive and accessible means of human-robot interaction, particularly valuable for individuals with motor impairments. However, existing BCI-Robot systems face major…
Sound field estimation with moving microphones can increase flexibility, decrease measurement time, and reduce equipment constraints compared to using stationary microphones. In this paper a sound field estimation method based on kernel…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
Fault diagnosis of rotating machinery plays a important role for the safety and stability of modern industrial systems. However, there is a distribution discrepancy between training data and data of real-world operation scenarios, which…
The machine recognition of speech spoken at a distance from the microphones, known as far-field automatic speech recognition (ASR), has received a significant increase of attention in science and industry, which caused or was caused by an…
Hand gesture recognition attracts great attention for interaction since it is intuitive and natural to perform. In this paper, we explore a novel method for interaction by using bone-conducted sound generated by finger movements while…
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their…
Hearing aids use dynamic range compression (DRC), a form of automatic gain control, to make quiet sounds louder and loud sounds quieter. Compression can improve listening comfort, but it can also cause distortion in noisy environments. It…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
Sound absorption at low frequencies still remains a challenge in both scientific research and engineering practice. Natural porous materials are ineffective in this frequency range, as well as acoustic resonators which present too narrow…
Agriculture is facing a labor crisis, leading to increased interest in fleets of small, under-canopy robots (agbots) that can perform precise, targeted actions (e.g., crop scouting, weeding, fertilization), while being supervised by human…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
Dynamic atomic force microscopy (AFM) modes that operate at frequencies far away from the resonance frequency of the cantilever (off-resonance tapping (ORT) modes) can provide high-resolution imaging of a wide range of sample types,…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Measurement and feedback control of stochastic dynamics has been actively studied for not only stabilizing the system but also for generating additional entropy flows originating in the information flow in the feedback controller. In…
The engineering space for magnetically manipulated biomedical microrobots is rapidly expanding. This includes synthetic, bioinspired, and biohybrid designs, some of which may eventually assume clinical roles aiding drug delivery or…
Most of the pronunciation assessment methods are based on local features derived from automatic speech recognition (ASR), e.g., the Goodness of Pronunciation (GOP) score. In this paper, we investigate an ASR-free scoring approach that is…