相关论文: The CUFF, Clenching Upper-limb Force Feedback wear…

In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…

Wearable assistive devices are increasingly becoming softer. Modelling their interface with human tissue is necessary to capture transmission of dynamic assistance. However, their nonlinear and compliant nature makes both physical modeling…

A robotic hand design suitable for dexterity should be examined using functional tests. To achieve this, we designed a mechanical glove, which is a rigid wearable glove that enables us to develop the corresponding isomorphic robotic hand…

In this paper, an experimental testbed and associated psychophysical paradigm are presented for understanding how people discriminate torsional stiffness using wrist rotation about their forearm. Featured in the testbed are two 1-DoF rotary…

We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…

Hand washing is a crucial part of personal hygiene. Hand washing detection is a relevant topic for wearable sensing with applications in the medical and professional fields. Hand washing detection can be used to aid workers in complying…

We developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and it…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…

Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…

Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…

The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after…

In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…

Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer…

This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…

Wearable sensor-based human activity recognition (HAR) has been a research focus in the field of ubiquitous and mobile computing for years. In recent years, many deep models have been applied to HAR problems. However, deep learning methods…

The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…

Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…

This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFRH). The force control and adaptation algorithm is intuitive…

Children with unilateral cerebral palsy have movement impairments that are predominant to one of their upper extremities (UE) and are prone to a phenomenon named "developmental disregard", which is characterized by the neglect of their most…