相关论文: Ori-Sense: origami capacitive sensing for soft rob…
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…
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However,…
Soft robotics is applicable to a variety of domains due to the adaptability offered by the soft and compliant materials. To develop future intelligent soft robots, soft sensors that can capture deformation with nearly infinite…
Electro-Ribbon Actuators (ERAs) are lightweight flexural actuators that exhibit ultrahigh displacement and fast movement. However, their embedded sensing relies on capacitive sensors with limited precision, which hinders accurate control.…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft…
Quantum sensors offer unparalleled precision, accuracy, and sensitivity for a variety of measurement applications. We report a compact magnetometer based on a ferrimagnetic sensing element in an oscillator architecture that circumvents…
We demonstrate an ultrathin and semitransparent anisotropic and spin Hall magnetoresistance sensor based on NiFe/Pt heterostructure. The use of spin-orbit torque effective field for transverse biasing allows to reduce the total thickness of…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-robots to a desired shape are often…
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…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collaborative robots suffers from poor…
We propose a low-pretension reflective kirigami film as a material for the reflective surfaces of large deployable space reflector antennas with an operating frequency around 10 GHz. The kirigami cut pattern is based on the well-known…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
The challenge in reconfigurable manipulation of sound waves using metasurfaces lies in achieving precise control over acoustic behavior while developing efficient and practical tuning methods for structural configurations. However, most…
Origami as a deployable structure offers the unique advantage of achieving compact stowage via flat-folding while forming a well-defined surface composed of rigid panels upon deployment. However, since origami consists of flat facets, it is…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…
In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…