相关论文: Optimized Lattice-Structured Flexible EIT Sensor f…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…
The regularized D-bar method is a popular method for solving Electrical Impedance Tomography (EIT) problems due to its efficiency and simplicity. It utilizes the low-pass truncated scattering data in the non-linear Fourier domain to solve…
Electrical Impedance Tomography (EIT) is a non-invasive imaging technique that reconstructs conductivity distributions within a body from boundary measurements. However, EIT reconstruction is hindered by its ill-posed nonlinear inverse…
Electrical impedance tomography is an imaging modality for extracting information on the conductivity distribution inside a physical body from boundary measurements of current and voltage. In many practical applications, it is a priori…
Electrical impedance tomography (EIT) uses current-voltage measurements on the surface of an imaging subject to detect conductivity changes or anomalies. EIT is a promising new technique with great potential in medical imaging and…
The growing adoption of lattice-based structures in soft robotics creates a need for advanced sensing solutions capable of monitoring their global deformation, particularly compression and extension. In this work, we address this challenge…
Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Element Method (FEM). However, elastomer…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…
In this paper, a capacitive flexible tactile sensor was designed to measure the pressure of objects based on MEMS technology. This sensor is a structure of a 4x4 array, with metal Ag as the capacitive electrode, which forms the tactile…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
Teletaction, the transmission of tactile feedback or touch, is a crucial aspect in the field of teleoperation. High-quality teletaction feedback allows users to remotely manipulate objects and increase the quality of the human-machine…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
During daily activities, humans use their hands to grasp surrounding objects and perceive sensory information which are also employed for perceptual and motor goals. Multiple cortical brain regions are known to be responsible for sensory…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
An efficient computational approach for optimal reconstruction of binary-type images suitable for models in various applications including biomedical imaging is developed and validated. The methodology includes derivative-free optimization…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…