相关论文: Haptics in Micro- and Nano-Manipulation
Neuromorphic computing based on spiking neural networks has the potential to significantly improve on-line learning capabilities and energy efficiency of artificial intelligence, specially for edge computing. Recent progress in…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
Heterogeneous ultra-dense network (H-UDN) is envisioned as a promising solution to sustain the explosive mobile traffic demand through network densification. By placing access points, processors, and storage units as close as possible to…
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
This paper investigates a movable antenna (MA)-enabled wireless-powered communication network (WPCN), where multiple wireless devices (WDs) first harvest energy from the downlink (DL) signal broadcast by a hybrid access point (HAP) and then…
The thesis discusses micromagnetic simulation studies on high-frequency magnetic dynamics in three-dimensional ferromagnetic nanoarchitectures made of interconnected magnetic nanowire networks. Such artificial magnetic materials with…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture…
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…
Maintaining robust and stable communication links in high-mobility scenarios is challenging for time-division duplex (TDD) reciprocity-based gigantic MIMO systems due to rapid channel variations, especially in non-line-of-sight (NLOS)…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-objects. At these scales, manipulation is…
Magnetic remote actuation of soft materials is attractive for applications such as transforming materials and medical robots. However, due to manufacturing limitations, microscale magnetoactive devices are scarce -- light-based additive…