相关论文: A Novel Sensorised Insole for Sensing Feet Pressur…
While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In this work, we introduce an optical tactile sensing principle…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
In this work, a large area, low cost and flexible polymer/paper-based double touch mode capacitive pressure sensor is demonstrated. Garage fabrication processes are used which only require cutting, taping and assembly of aluminum (Al)…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
High precision interferometers such as gravitational-wave detectors require complex seismic isolation systems in order to decouple the experiment from unwanted ground motion. Improved inertial sensors for active isolation potentially…
Recently, nanomaterials are arousing increasing interest and a wide variety of opto-electronic devices have been developed, such as light-emitting diodes, solar cells, and photodetectors. However, the study of the light emission properties…
Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Plantar pressure measurements can provide valuable insight into various health characteristics in patients. In this study, we describe different plantar pressure devices available on the market and their clinical relevance. Current devices…
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…
1) Objectives Most foot ulcers are the consequence of a trauma (repetitive high stress, ill-fitting footwear, or an object inside the shoe) associated to diabetes. They are often followed by amputation and shorten life expectancy. This…
Gait analysis (GA) has been widely used in physical activity monitoring and clinical contexts, and the estimation of the spatial-temporal gait parameters is of primary importance for GA. With the quick development of smart tiny sensors, GA…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
The development of smart polymer materials is reviewed and illustrated. Important examples of these polymers include conducting polymers, ionic gels, stimulus-response be used polymers, liquid crystalline polymers and piezoelectric…
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSlim for the dense packing task. In this paper, we propose an…
We describe the architecture of an original biofeedback system for balance improvement for fall prevention and present results of a feasibility study. The underlying principle of this biofeedback consists of providing supplementary…
Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…