相关论文: A Soft e-Textile Sensor for Enhanced Deep Learning…

Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…

Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…

Inertial sensing is used in many applications and platforms, ranging from day-to-day devices such as smartphones to very complex ones such as autonomous vehicles. In recent years, the development of machine learning and deep learning…

Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…

Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…

Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…

This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…

Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…

Inertial sensors are widely utilized in smartphones, drones, robots, and IoT devices, playing a crucial role in enabling ubiquitous and reliable localization. Inertial sensor-based positioning is essential in various applications, including…

Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms' slip perception use tactile or vision sensors. However, mobile robots…

This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the…

Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…

Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…

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.…

Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…

This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution for the shape sensing of these devices.…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…

The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper…