Related papers: EIT-Pneumatic Hybrid Robotic Skin for Practical an…
We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated before use. Using computer aided design (CAD), a robot skin…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
Reconstructing complex 3D interfaces from indirect measurements remains a grand challenge in scientific computing, particularly for ill-posed inverse problems like Electrical Impedance Tomography (EIT). Traditional shape optimization…
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel…
Electrical Impedance Tomography (EIT) is a powerful imaging technique with diverse applications, e.g., medical diagnosis, industrial monitoring, and environmental studies. The EIT inverse problem is about inferring the internal conductivity…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…
Artificial skin with the sense of touch can support robots to interact with the surrounding environment efficiently and accomplish complex tasks. Traditional multi-layered artificial skins require complex manufacturing processes which can…
The metamaterial analogue of electromagnetically induced transparency (EIT) in terahertz (THz) regime holds fascinating prospects for filling the THz gap in various functional devices. In this paper, we propose a novel hybrid metamaterial…
A wireless wearable Electrical Impedance Tomography (EIT) system has been developed utilizing the AD5933 chip to achieve real-time imaging of lung respiration. The system employs a voltage excitation method tailored to human impedance…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Collaborative robots are expected to physically interact with humans in daily living and workplace, including industrial and healthcare settings. A related key enabling technology is tactile sensing, which currently requires addressing the…
Electrical Impedance Tomography (EIT) is a non-invasive imaging technique that reconstructs conductivity distributions within a body from boundary measurements. However, EIT reconstruction is hindered by its ill-posed nonlinear inverse…
Electrical Impedance Tomography (EIT) aims to recover the internal conductivity and permittivity distributions of a body from electrical measurements taken on electrodes on the surface of the body. The reconstruction task is a severely…
Electrical Impedance Tomography (EIT) is a noninvasive imaging technique that does not use ionizing radiation, with application both in environmental sciences and in health. Image reconstruction is performed by solving an inverse problem…
We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins offer a flexible form factor for hand-wide coverage with fast…
While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySkin addresses the critical challenges that impede the use of…