7 accepted papers
Barometric tactile sensors present a cheap and customizable method for adding tactile sensing to robotic platforms. These sensors consist of commercially available MEMS barometers embedded in an elastomer. However, as the sensing surface and elastomer volume increase in complexity, time-dependent ma…
Developing a robotic hand that integrates high fingertip force, rapid response, and multi-degree-of-freedom (DoF) motion, similar to the human hand, remains a challenge in the field of robotic hands. This study presents the Soft-OmniFunctional Robotic Gripper (SOFRo Gripper), designed to achieve all…
Tendon sheath mechanism (TSM) is an essential mechanical element for the implementation of flexible endoscopic systems owing to its small volume and simple structure. However, nonlinear characteristics, such as backlash, hysteresis and friction occur when employing such a component. In this study, w
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to estimate the contact location and three-axis contact forces base…
Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping reflexes that rely on high-bandwidth force, contact, and proximit…
The tendon-sheath mechanism (TSM) is widely used for flexible surgical robots owing to its ability to transfer motion through complicated paths and small volumes. However, precise motion control of the robots is difficult owing to the nonlinear characteristics of the TSM due to hysteresis, friction,
A new lizard-inspired robot is presented in this paper, which enables to maintain its moving direction by lateral body motions even during high-speed bipedal running. First, a dynamic model for lizard-inspired robot is derived to simulate the lateral body motion of real lizard. Based upon the simula…