相关论文: Friction tunable electrostatic clutch with low dri…
This paper presents a toolkit for rapid harness prototyping. These wearable structures attach vibrotactile actuators to the body using modular elements like 3D printed joints, laser cut or vinyl cutter-based sheets and magnetic clasps. This…
Frictional influences in tendon-driven robotic systems are generally unwanted, with efforts towards minimizing them where possible. In the human hand however, the tendon-pulley system is found to be frictional with a difference between…
A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the…
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…
Previous work has shown that the addition of haptic feedback to the hands can improve awareness of tool-tissue interactions and enhance performance of teleoperated tasks in robot-assisted minimally invasive surgery. However, hand-based…
Extensive research has been done in haptic feedback for texture simulation in virtual reality (VR). However, it is challenging to modify the perceived tactile texture of existing physical objects which usually serve as anchors for virtual…
Recurrent or sustained awkward body postures are among the most frequently cited risk factors to the development of work-related musculoskeletal disorders (MSDs). To prevent workers from adopting harmful configurations but also to guide…
Shape displays are a class of haptic devices that enable whole-hand haptic exploration of 3D surfaces. However, their scalability is limited by the mechanical complexity and high cost of traditional actuator arrays. In this paper, we…
Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects are smaller or not spherical. Current research is improving…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Inspired by recent experiments demonstrating that vibrating elastic sheets can function as seemingly contactless suction cups, we investigate the elastohydrodynamic hovering of a thin elastic sheet vibrating near a rigid substrate. Previous…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a…
EMG-based gesture recognition shows promise for human-machine interaction. Systems are often afflicted by signal and electrode variability which degrades performance over time. We present an end-to-end system combating this variability…
Among smart materials, piezoelectric materials occupy a very prominent position for sensing and actuation functions. Combined with simple or more advanced shunts, they are also proposed in various vibration mitigation schemes. However, the…
Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
The recent discovery of electro-active polymers has shown great promises in the field of soft robotics, and was logically followed by experimental, numerical and theoretical developments. Most of these studies were concerned with systems…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…