相关论文: RobotSweater: Scalable, Generalizable, and Customi…
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…
Wearable robots are designed to be worn on the human body. Taking advantage of their physical form, various applications for wearable robots are being considered. This study proposes a wearable robot worn on the abdomen and a new…
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…
We posit that embodied artificial intelligence is not only a computational, but also a materials problem. While the importance of material and structural properties in the control loop are well understood, materials can take an active role…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
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,…
Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…
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)…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
As robotics advances toward integrating soft structures, anthropomorphic shapes, and complex tasks, soft and highly stretchable mechanotransducers are becoming essential. To reliably measure tactile and proprioceptive data while ensuring…
The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…
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…
Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…
Tactile sensors have been developed since the early '70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…