Related papers: Acoustic Feedback for Closed-Loop Force Control in…
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Human perception of surrounding events is strongly dependent on audio cues. Thus, acoustic insulation can seriously impact situational awareness. We present an exploratory study in the domain of assistive computing, eliciting requirements…
Modular soft robots combine the strengths of two traditionally separate areas of robotics. As modular robots, they can show robustness to individual failure and reconfigurability; as soft robots, they can deform and undergo large shape…
Hysteresis-induced drift is a major issue in the detection of force induced during grinding and cutting operations. In this paper, we propose an external force estimation method based on the Mel spectrogram of the force obtained from a…
Optical vibration sensing enables recovering the scene sound directly from the surface vibration of nearby objects, turning everyday objects into ``visual microphones''. However, most prior methods had focused on capturing the vibrations of…
Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…
One enduring challenge for controlling high frequency sound in local active noise control (ANC) systems is to obtain the acoustic signal at the specific location to be controlled. In some applications such as in ANC headrest systems, it is…
Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…
This paper elucidates a model for acoustic single and multi-tone classification in resource constrained edge devices. The proposed model is of State-of-the-art Fast Accurate Stable Tiny Gated Recurrent Neural Network. This model has…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
Leveraging over-the-air computations for model aggregation is an effective approach to cope with the communication bottleneck in federated edge learning. By exploiting the superposition properties of multi-access channels, this approach…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
On-chip Brillouin laser gyroscopes harnessing opto-acoustic interaction are an emerging approach to detect rotation, due to their small footprint, excellent stability and low power consumption. However, previous implementations rely solely…
Large self-supervised pre-trained speech models require computationally expensive fine-tuning for downstream tasks. Soft prompt tuning offers a simple parameter-efficient alternative by utilizing minimal soft prompt guidance, enhancing…
In order to improve the stability of synchrotron radiation, we developed a new method of machine learning-based closed orbit feedback and piloted it in the storage ring of the Shanghai Synchrotron Radiation Facility (SSRF). In our…
Considerable efforts have been made to address the resonance issue of the Direct-drive Permanent Magnet Synchronous Generator (D-PMSG) wind farm integrated power systems. However, the D-PMSG controller structure and parameters are concealed…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Using the finite volume CFD software FLUENT, one fan was studied at a given flow rate (1.5m3/min) for three different operational rotating speeds : 2,000, 2,350 and 2,700 rpm. The turbulent air flow analysis predicts the acoustic behavior…
Interactive reinforcement learning (IRL) extends traditional reinforcement learning (RL) by allowing an agent to interact with parent-like trainers during a task. In this paper, we present an IRL approach using dynamic audio-visual input in…