相关论文: An FBG-based Stiffness Estimation Sensor for In-vi…
The integration of photonic sensors into microfluidic devices provides opportunities for dynamic measurement of chemical and physical properties of fluids in very small volumes. We previously reported on the use of commercially available…
We present a proof-of-concept experiment aimed at increasing the sensitivity of temperature sensors implemented with Fiber Bragg gratings by making use of a weak value amplification scheme. The technique requires only linear optics elements…
Fibre optic sensors (FOS) are an established technique for environmental and deformation monitoring in several areas like civil engineering, aerospace, and energy. Their immunity to electromagnetic and magnetic fields and nuclear…
Collaborative robots are expected to physically interact with humans in daily living and workplace, including industrial and healthcare settings. A related key enabling technology is tactile sensing, which currently requires addressing the…
Force perception on medical instruments is critical for understanding the mechanism between surgical tools and tissues for feeding back quantized force information, which is essential for guidance and supervision in robotic autonomous…
This study proposes a simple and practical approach based on in-vitro measurements and in-silico simulation using the likelihood-free Bayesian inference with the finite element method simultaneously for stochastic calibration and…
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…
Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…
We demonstrate an amplitude-based micro-displacement sensor that uses a plastic photonic bandgap Bragg fiber with one end coated with a silver layer. The reflection intensity of the Bragg fiber is characterized in response to different…
We report fabrication of THz fiber Bragg gratings (TFBG) using CO2 laser inscription on subwavelength step-index polymer fibers. A fiber Bragg grating with 48 periods features a ~4 GHz-wide stop band and ~15 dB transmission loss in the…
Understanding mechanosensitivity, i.e. how cells sense the stiffness of their environment is very important, yet there is a fundamental difficulty in understanding its mechanism: to measure an elastic modulus one requires two points of…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
We report on a new high resolution apparatus for measuring magnetostriction suitable for use at cryogenic temperatures in pulsed high magnetic fields which we have developed at the Hochfeld-Magnetlabor Dresden. Optical fibre strain gauges…
Conventional imaging of diagnostic ultrasound is widely used. Although it makes the differences in the soft tissues echogenicities' apparent and clear, it fails in describing and estimating the soft tissue mechanical properties. It cannot…
Cavity optomechanics offers a versatile platform for both fundamental physics and ultrasensitive sensing. Importantly, resonant enhancement in both optical and mechanical responses enables the highly sensitive optical detection of small…
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…
High-resolution magnetostriction measurement of $\Delta L/L\sim10^{-6}$ at a speed of 5 MHz is performed, using optical filter method as the detection scheme for the fiber Bragg grating (FBG) based strain monitor is performed under…
Background: Palpation is the most widely used approach to empirically assess the mechanical properties of superficial tissues. While elastography is used for volume measurements, it remains difficult to assess skin properties with…
External contact force is one of the most significant information for the robots to model, control, and safely interact with external objects. For continuum robots, it is possible to estimate the contact force based on the measurements of…