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Midsoles are important components in footwear as they provide shock absorption and stability, thereby improving comfort and effectively preventing certain foot and ankle injuries. A rationally tailored midsole can potentially mitigate…
Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…
A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…
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…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
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…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…
We proposed a new type of tactile sensor that is capable of determining the surface morphology of skin lesions. The sensor consists of a brass cylinder with an axial bore. Three peripheral bobbins were machined in the cylinder around which…
Wearable devices are becoming increasingly important, addressing needs in both the fitness and the medical markets. In this paper, we describe a novel sensing platform based on a hollow-core polyurethane optical fiber, operating through…
Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile sensors (taxels), we use interpolation techniques. The…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…
Mycelium bound composites are promising materials for a diverse range of applications including wearables and building elements. Their functionality surpasses some of the capabilities of traditionally passive materials, such as synthetic…