相关论文: Closed-loop Position Control of a Pediatric Soft R…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate tactile output, low mass, simple…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…
In this paper, a combination of ankle and hip strategy is used for push recovery of a position-controlled humanoid robot. Ankle strategy and hip strategy are equivalent to Center of Pressure (CoP) and Centroidal Moment Pivot (CMP)…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Technological advances in multi-articulated prosthetic hands have outpaced the methods available to amputees to intuitively control these devices. Amputees often cite difficulty of use as a key contributing factor for abandoning their…
Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…