相关论文: 3D Force and Contact Estimation for a Soft-Bubble …

Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…

Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…

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 simulate the quasi-static motion of a spherical particle through a stable, horizontal soap film. The soap film subtends a fixed contact angle, in the range $10-135^\circ$, where it meets the particle. The tension and pressure forces…

In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person and the object, contact positions, and forces…

Contact dynamics (CD) is a powerful method to solve the dynamics of large systems of colliding rigid bodies. CD can be computationally more efficient than classical penalty-based discrete element methods (DEM) for simulating contact between…

The equilibrium properties of polymer droplets on a soft deformable surface are investigated by molecular dynamics simulations of a bead-spring model. The surface consists of a polymer brush with irreversibly end-tethered linear homopolymer…

This paper presents a novel exact finite element formulation of quasi-3D beam for high-fidelity analysis of functionally graded sandwich beams. Unlike conventional displacement-based elements that rely on approximate interpolation functions…

Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This limitation motivates the design of a…

Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer-vision techniques. However, their physical design and the information they provide do not…

Forces govern how fluids deform biological tissues, regulate cardiovascular function, and determine the performance and failure of soft materials. Recent advances in flow birefringence, including the use of suspended anisotropic…

Three-dimensional atomic force microscopy (3D-AFM) has been a powerful tool to probe the atomic-scale structure of solid-liquid interfaces. As a nanoprobe moves along the 3D volume of interfacial liquid, the probe-sample interaction force…

We report experimental observations of the volume acoustic modes of air bubbles in water, including both the fundamental Minnaert breathing mode and a family of higher-order modes extending into the megahertz frequency range. Bubbles were…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

Simple models for spherical particles with a soft shell have been shown to self-assemble into numerous crystal phases and even quasicrystals. However, most of these models rely on a simple pairwise interaction, which is usually a valid…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…

Sensorized insoles provide a tool for gait studies and health monitoring during daily life. For users to accept such insoles they need to be comfortable and lightweight. Previous work has already demonstrated that estimation of ground…

When a rigid object approaches a soft material in a viscous fluid, hydrodynamic stresses arise in the lubricated contact region and deform the soft material. The elastic deformation modifies in turn the flow, hence generating a…

In Part I of this two part series, we presented a multi-neighbor dependent contact model for adhesive elastic-plastic particles built upon the method of dimensionality reduction that is valid for the elastic and fully-plastic contact…