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Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design…
This work presents an innovative magnetoelastic (ME) biosensor using graphene functionalized with the SARS-CoV-2 N protein for antibody detection via magnetoelastic resonance. Graphene was chosen for its biocompatibility and high surface…
This article reviews recent research for development of sensitive graphene photon detectors in the infrared/far infrared/THz range. For this range, graphene has promising potential in thermal photon detectors. Graphene has ultra-small…
We propose an optical tactile sensor using self-healing materials. The proposed tactile sensor consists of a structure that includes a diode, a phototransistor, and an optical waveguide made from self-healing materials. This design offers…
The goal of this project is to create an inexpensive, lightweight, wearable assistive device that can measure hand or finger movements accurately enough to identify a range of hand gestures. One eventual application is to provide assistive…
Graphene is an ultrathin material, which allows us to control surface phenomena by means of field-effect gating. Among various surface phenomena, photo-oxidation is known to be a facile method to largely control the electronic structure of…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…
Reduced graphene oxide becomes one of the most popular materials for applications in various optical, electronic and sensor devices. Even though many methods have been already reported for reduced graphene oxide synthesis, they usually rise…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Graphene-based photodetectors have shown responsivities up to 10$^8$A/W and photoconductive gains up to 10$^{8}$ electrons per photon. These photodetectors rely on a highly absorbing layer in close proximity of graphene, which induces a…
Textile sensors transform our everyday clothing into a means to track movement and bio-signals in a completely unobtrusive way. One major hindrance to the adoption of "smart" clothing is the difficulty encountered with connections and space…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Transition Edge Sensors are ultra-sensitive superconducting detectors with applications in many areas of research, including astrophysics. The device consists of a superconducting thin film, often with additional normal metal features, held…
In this paper, we present the TacShade a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
A novel ultra-sensitive Parity-Time symmetry based Graphene FET (PTS-GFET) sensor is studied for gas concentration detection. The PTS-GFET sensor effectively integrates the sensitivity of the PT symmetry around its Exceptional Point (EP)…
Measurement of pressure distribution applied to a fingertip is crucial for the teleoperation of robots and human computer interface. Previous studies have acquired pressure distribution by affixing a sensor array to the fingertip or by…
We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range…
Secure communication is essential in covert and safety-critical settings where verbal interactions may expose user intent or operational context. Wearable gesture-based communication enables low-effort, nonverbal interaction, but existing…