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Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
This study presents a novel approach for touch sensing using semi-elastic textile surfaces that does not require the placement of additional sensors in the sensing area, instead relying on sensors located on the border of the textile. The…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…
Evaluation of social robot navigation inherently requires human input due to its qualitative nature. Motivated by the need to scale human evaluation, we propose a general method for deploying interactive, rich-client robotic simulations on…
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
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…
Human-like embodied tactile perception is crucial for the next-generation intelligent robotics. Achieving large-area, full-body soft coverage with high sensitivity and rapid response, akin to human skin, remains a formidable challenge due…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…
We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series…
Wireless energy transfer (WET) is a ground-breaking technology for cutting the last wire between mobile sensors and power grids in smart cities. Yet, WET only offers effective transmission of energy over a short distance. Robotic WET is an…
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…