相关论文: Ori-Sense: origami capacitive sensing for soft rob…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

Mechanical metamaterials with complex microstructures have superior physical properties such as graded stiffness, negative Poisson's ratio, and advantage in energy absorption. In recent years, origami provide many inspirations in the…

Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…

Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…

In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…

Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight,…

Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…

This study explores the use of origami composite structures as active aerodynamic control surfaces. Towards this goal, two origami concepts were designed leveraging a combination of analytical and finite element modeling, and computational…

Fully soft bistable mechanisms have shown extensive applications ranging from soft robotics, wearable devices, and medical tools, to energy harvesting. However, the lack of design and fabrication methods that are easy and potentially…

Origami-based design holds promise for developing materials whose mechanical properties are tuned by crease patterns introduced to thin sheets. Although there has been heuristic developments in constructing patterns with desirable…

Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step fabrication. Optical soft sensors are attractive for…

Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…

In Micro-electro-mechanical Systems (MEMS) based pressure sensors and acoustic devices, deflection of a membrane is utilized for pressure or sound measurements. Due to advantages of capacitive pressure sensor over piezoresistive pressure…

Origami, the traditional art of paper folding, has revolutionized science and technology in recent years and has been found useful in various real-world applications. In particular, origami-inspired structures have been utilized for…

With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…

Origami metamaterials typically consist of folded sheets with periodic patterns, conferring them with remarkable mechanical properties. In the context of Continuum Mechanics, the majority of existing predictive methods are mechanism analogs…

Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…

We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic…

We propose an optical tactile sensor using self-healing materials. The proposed tactile sensor consists of a structure that includes a diode, a phototransistor, and an optical waveguide made from self-healing materials. This design offers…