相关论文: A Novel Sensorised Insole for Sensing Feet Pressur…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
The increase in world elderly population has significantly underlined the need for continuous health care measurement, specifically in rehabilitation monitoring. The new technologies has enabled people to have in home healthcare services,…
A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…
Understanding the underlying structure of building surfaces like walls and floors is essential when carrying out building maintenance and modification work. To facilitate such work, this paper introduces a capacitive sensor-based technology…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Replicating a user's pose from only wearable sensors is important for many AR/VR applications. Most existing methods for motion tracking avoid environment interaction apart from foot-floor contact due to their complex dynamics and hard…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
A novel method is presented for measuring impulsive forces generated by devices which are fed with medium power microwave signals. The forces are measured with a torsion balance or weighing scale, as usual, but the microwave signal is…
Squeeze film pressure sensors, exploiting the dynamical modification of the mechanical properties of oscillating elements due to the compression of a fluid in a small gap region, allow for direct and absolute pressure measurements. This…
The fabric-based pneumatic exosuit is now a hot research topic because it is lighter and softer than traditional exoskeletons. Existing research focused more on the mechanical properties of the exosuit (e.g., torque and speed), but less on…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…
Intelligent tires can be used for a wide array of applications ranging from tire pressure monitoring to analyzing tire/road interactions, wheel loading, and tread wear monitoring. In this article, we develop a measurement system for…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces directly from observing the bubble surface because local…
Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-to-use. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be…
The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper…
For traditional capacitive pressure sensors, high nonlinearity and poor sensitivity greatly limited their sensing applications. Hence, an innovative design of capacitors based on spiral comb electrodes is proposed for high-sensitivity…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…