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Atomic force microscopy (AFM) has been constantly supporting nanosciences and nanotechnologies for over 30 years, being present in many fields from condensed matter physics to biology. It enables measuring very weak forces at the nanoscale,…
Atrial fibrillation (AF) is characterized by irregular electrical impulses originating in the atria, which can lead to severe complications and even death. Due to the intermittent nature of the AF, early and timely monitoring of AF is…
We present a single-quadrature feedback scheme able to overcome the conventional 3 dB limit on parametric squeezing. The method is experimentally demonstrated in a micromechanical system based on a cantilever with a magnetic tip. The…
Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…
Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…
Inferring the affordance of an object and grasping it in a task-oriented manner is crucial for robots to successfully complete manipulation tasks. Affordance indicates where and how to grasp an object by taking its functionality into…
Automatic speech recognition (ASR) has reached a level of accuracy in recent years, that even outperforms humans in transcribing speech to text. Nevertheless, all current ASR approaches show a certain weakness against ambient noise. To…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Purpose: Robotic assistance in otologic surgery can reduce the task load of operating surgeons during the removal of bone around the critical structures in the lateral skull base. However, safe deployment into the anatomical passageways…
The acoustic startle reflex (ASR) that can be induced by a loud sound stimulus can be used as a versatile tool to, e.g., estimate hearing thresholds or identify subjective tinnitus percepts in rodents. These techniques are based on the fact…
Text and vision foundation models can perform many tasks in a zero-shot setting, a desirable property that enables these systems to be applied in general and low-resource settings. There has been far less work, however, on the zero-shot…
Inspired by the behavior of humans talking in noisy environments, we propose an embodied embedded cognition approach to improve automatic speech recognition (ASR) systems for robots in challenging environments, such as with ego noise, using…
Room acoustics analysis plays a central role in architectural design, audio engineering, speech intelligibility assessment, and hearing research. Despite the availability of standardized metrics such as reverberation time, clarity, and…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Referring expressions are commonly used when referring to a specific target in people's daily dialogue. In this paper, we develop a novel task of audio-visual grounding referring expression for robotic manipulation. The robot leverages both…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Identifying whether the robot is contacting rigid or soft…