相关论文: CoinFT: A Coin-Sized, Capacitive 6-Axis Force Torq…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reduction, while introducing innovative calibration methods that…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-to-use. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be…
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by the user on the tool. However, current 6-axis force/torque…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragility of commercial force/torque (F/T) sensors have limited…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a material cost under $215. As an accessible…
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack…
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…
Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as a robotic arm gripping an object or even the contact between two bones at our knee joints. The ability to naturally…
We present in this paper a cryptocurrency called Mobile Fungible Token (MFT) or "MiftyCoin", which is mined with Proof of Human Work (PoH). Blocks in MFT's blockchain are mined by users solving unique 24-tile puzzles autogenerated as a…
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback,…
Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…