相关论文: Ultrasensitive hybrid optical skin
The biological skin enables animals to sense various stimuli. Extensive efforts have been made recently to develop smart skin-like sensors to extend the capabilities of biological skins; however, simultaneous sensing of several types of…
Wearable human activity sensors developed in the past decade show a distinct trend of becoming thinner and more imperceptible while retaining their electrical qualities, with graphene e-tattoos, as the ultimate example. A persistent…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
Epidermal skin sensors have emerged as a promising approach for continuous and noninvasive monitoring of vital health signals, but to maximize their performance, these sensors must integrate seamlessly with the skin, minimizing impedance…
Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution…
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…
The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment.…
This paper presents a neuromorphic, event-driven tactile sensing system for soft, large-area skin, based on the Dynamic Vision Sensors (DVS) integrated with a flexible silicone optical waveguide skin. Instead of repetitively scanning…
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
To foster an immersive and natural human-robot interaction, the implementation of tactile perception and feedback becomes imperative, effectively bridging the conventional sensory gap. In this paper, we propose a dual-modal electronic skin…
Large-scale neural recording with high spatio-temporal resolution is essential for understanding information processing in brain, yet current neural interfaces fall far short of comprehensively capturing brain activity due to extremely high…
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…
This paper presents a novel hardware system for high-speed, event-sparse sampling-based electronic skin (e-skin)that integrates sensing and neuromorphic computing. The system is built around a 16x16 piezoresistive tactile array with front…
Optically-transparent opportunistic electromagnetic skins (OTO-EMSs) are proposed to enable outdoor-to-indoor (O2I) millimiter-wave (mmW) wireless communications with existing windows/glass-panels. More in detail, static passive EMSs…
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
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…
Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…