相关论文: Compact LED-Based Displacement Sensing for Robot F…
This chapter describes the basic design, simulation, and fabrication for fully Si integrated, waveguide coupled, optomechanical force and displacement sensors. The approach of full Si integration of all stationary nanophotonic components…
In the long pursuit of smart robotics, it has been envisioned to empower robots with human-like senses, especially vision and touch. While tremendous progress has been made in image sensors and computer vision over the past decades, the…
We summarize the R&D activities on a novel semitransparent microstrip sensor to be used on laser-based alignment systems for silicon trackers. The new sensor is used both for particle tracking and laser detection. The aim of this research…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Many robotic hands currently rely on extremely dexterous robotic fingers and a thumb joint to envelop themselves around an object. Few hands focus on the palm even though human hands greatly benefit from their central fold and soft surface.…
We demonstrate an interferometric fiber-optic bending/micro-displacement sensor based on a plastic dual-core fiber with one end coated with a silver mirror. The two fiber cores are first excited with the same laser beam, the light in each…
This paper presents a new method for detecting and classifying a predefined set of hand gestures using a single transmitter and a single receiver utilizing a linearly frequency modulated ultrasonic signal. Gestures are identified based on…
Self-mixing interferometry is a measurement approach in which a laser beam is re-injected into the emitting laser itself after reflection on a target. Information about the position of the target can be obtained from monitoring the voltage…
We present a compact heterodyne laser interferometer developed for high-sensitivity displacement sensing applications. This interferometer consists of customized prisms and waveplates assembled as a quasi-monolithic unit to realize a…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations,…
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency,…
Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
The authors propose a multi mode operated dielectric resonator based displacement sensor. A cylindrical dielectric resonator is coupled to two 50 ohm microstrip lines to enable the multi mode operating feature. The parameters like S11 in…
A high-sensitivity LED based photoacoustic NO$_2$ sensor is demonstrated. Sensitive photoacoustic gas sensors based on incoherent light sources are typically limited by background noise and drifts due to a strong signal generated by light…