相关论文: Calibration of force actuators on an adaptive seco…
This paper contains a thorough investigation of the performance of electrically activated layered soft dielectric composite actuators under plane deformation. Noting that the activation can be induced controlling either the voltage or the…
The precisions of existing gravitational calibrators for gravitational wave observatories are limited by their dependence on the relative position between the calibrators and the observatory's test masses. Here we present a novel geometry…
Adaptive mirrors based on voice-coil technology have force actuators with an internal metrology to close a local loop for controlling its shape in position. When actuators are requested to be disabled or slaved, control matrices have to be…
The need for both high quality images and lightweight structures is one of the main drivers in space telescope design. An efficient wavefront control system will become mandatory in future large observatories, retaining performance while…
We present modeling and analysis of a hysteretic deformable mirror where the facesheet interacts with a continuous layer of piezoelectric material that can be actuated distributively by a matrix of electrodes through multiplexing. Moreover,…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
Several telescopes include large Deformable Mirrors (DM) located directly inside the telescope. These adaptive telescopes trigger new constraints for the calibration of the Adaptive Optics (AO) systems as they usually offer no access to an…
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…
Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotemporal force-deformation coupling. In our prior work, a…
Precise calibration of kilometer-scale interferometric gravitational wave detectors is crucial for source localization and waveform reconstruction. A technique that uses the radiation pressure of a power-modulated auxiliary laser to induce…
We detail a technique to produce actuators able to bear large strain and respond to an external magnetic field. The material used is PDMS reinforced with nickel coated carbon fibres. Thanks to the nickel functionalisation, the fibre…
The ongoing improvements of the advanced gravitational wave (GW) detectors are setting challenging requirements on instrument calibration. We report tests of a calibration technique, based on the well-known gravitation force, which has been…
A new method is introduced for calibrating lateral force as measured by an atomic force microscope (AFM), making use of both an interferometric detector and an optical beam detector on the same instrument. The method may be implemented…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Interference-fit joints are typically adopted to produce permanent assemblies among mechanical parts. The resulting contact pressure is generally used for element fixing or to allow load transmission. Nevertheless, some special designs take…
Small magnetic particles placed in a relatively soft polymer (with elastic modulus E ~ 10-100 kPa) are magnetically soft elastomers. The external magnetic field acts on each particle which leads to microscopic deformation of the material…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
We have built a 45-cm long x-ray deformable mirror of super-polished single-crystal silicon that has 45 actuators along the tangential axis. After assembly the surface height error was 19 nm rms. With use of high-precision visible-light…
Fiber-reinforced pneumatic twisted-and-coiled actuators (FR-PTCAs) offer high power density and compliance but their strong hysteresis and lack of intrinsic proprioception limit effective closed-loop control. This paper presents a…