相关论文: High-speed electrical connector assembly by struct…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Precision assembly requires sub-millimeter corrections in contact-rich "last-millimeter" regions where visual feedback fails due to occlusion from the end-effector and workpiece. We present ReTac-ACT (Reconstruction-enhanced Tactile ACT), a…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Recent improvements in additive manufacturing and high-throughput material synthesis have enabled the discovery of novel metallic materials for extreme environments. However, high-fidelity testing of advanced mechanical properties such as…
Fault attacks are active, physical attacks that an adversary can leverage to alter the control-flow of embedded devices to gain access to sensitive information or bypass protection mechanisms. Due to the severity of these attacks,…
Self-assembly of complex and functional materials remains a grand challenge in soft material science. Efficient assembly depends on a delicate balance between thermodynamic and kinetic effects, requiring fine-tuning affinities and…
We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…
Haptic-assisted virtual assembly and prototyping has seen significant attention over the past two decades. However, in spite of the appealing prospects, its adoption has been slower than expected. We identify the main roadblocks as the…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Proximity effects allow for the adjustment of magnetic properties in a physically elegant way. If two thin ferromagnetic (FM) films are brought into contact, electronic coupling alters their magnetic exchange interaction at their interface.…
Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects are smaller or not spherical. Current research is improving…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
The shift towards electrification and autonomous driving in the automotive industry results in more and more automotive wire harnesses being installed in modern automobiles, which stresses the great significance of guaranteeing the quality…
We report on a compact, highly sensitive all-fiber accelerometer suitable for low frequency and low amplitude vibration sensing. The sensing elements in the device are two short segments of strongly coupled asymmetric multicore fiber (MCF)…
Minimum-fuel low-thrust rendezvous guidance yields bang-bang control structures highly sensitive to estimation errors, sensor anomalies, and solver regularization, making aggressive closed-loop execution brittle for uncooperative proximity…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…