相关论文: A Large Force Haptic Interface with Modular Linear…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
To increase the awareness and impact, soft robotics needs to go beyond the lab environment and should be readily accessible to those even with no robotic expertise. However, most prevailing manufacturing methodologies require either…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…
In equilibrium the interface potential that describes the interaction between two AB interfaces in a binary blend of A and B homopolymers is attractive at all distances, resulting in coarsening of the blend morphology even in the absence of…
The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint technique that describes the compliance of…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
This paper introduces for the first time the concepts of non-coherent interfaces and microstructure-driven interface forces in the framework of micromorphic elasticity. It is shown that such concepts are of paramount importance when…
Brain-inspired computing aims to mimic cognitive functions like associative memory, the ability to recall complete patterns from partial cues. Memristor technology offers promising hardware for such neuromorphic systems due to its potential…
A flat sheet programmed with a planar pattern of spontaneous shape change will morph into a curved surface. Such metric mechanics is seen in growing biological sheets, and may be engineered in actuating soft matter sheets such as…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
Plenty of research on elastic interfaces has been done on systems where the interface is pushed with a constant force. We studied the average velocity of an interface under a sinusoidal driving in the creep region, considering both…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold…
Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited…
Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual…
A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently,…
Conventional circulators are made of magnetic ferrites and suffer from a cumbersome architecture, incompatibility with integrated circuit technology and inability for high frequency applications. To overcome these limitations, here we…