相关论文: Precise Well-plate Placing Utilizing Contact Durin…
The varied landscape of robotic hand designs makes it difficult to set a standard for how to measure hand size and to communicate the size of objects it can grasp. Defining consistent workspace measurements would greatly assist scientific…
The drug discovery process involves several tasks to be performed in vivo, in vitro and in silico. Molecular docking is a task typically performed in silico. It aims at finding the three-dimensional pose of a given molecule when it…
Objective: This study shows the force/torque control strategy for the robotized TMS system whose TMS coil's floor is incurved. The strategy considered the adhesion and friction between the coil and the subject's head. Methods: Hybrid…
Optical tweezers, which are powerful tools for trapping and manipulating particles, have been widely used in many areas. However, their potential wells are typically symmetrical, which limit their capability of optical trapping and…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
We present a simple and inexpensive method for measuring weak cohesive interactions. This technique is applied to the specific case of oil droplets with a depletion interaction, dispersed in an aqueous solution. The experimental setup…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Tracking hand poses on wrist-wearables enables rich, expressive interactions, yet remains unavailable on commercial smartwatches, as prior implementations rely on external sensors or custom hardware, limiting their real-world applicability.…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
A removable holder carrying a set of miniature temperature sensors inside our Rayleigh-B\'enard convection cylindrical cell has been developed. The sensors should not disturb the temperature and velocity fields of the buoyancy-driven…
Surface wettability is a critical design parameter for biomedical devices, coatings, and textiles. Contact angle measurements quantify liquid-surface interactions, which depend strongly on liquid formulation. Herein, we present the Robotic…
Rising global food demand and harsh working conditions make fruit harvest an important domain to automate. Peduncle localization is an important step for any automated fruit harvesting system, since fruit separation techniques are highly…
Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capacity, which makes advanced deep learning…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
Background: Pressure mapping technology has been adapted to monitor over prolonged periods to evaluate pressure ulcer risk in individuals during extended lying postures. However, temporal pressure distribution signals are not currently used…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…