10 accepted papers
Vision-based tactile sensors are highly promising for enabling robots to perform dexterous, contact-rich manipulation tasks by providing high-resolution tactile data. Recent studies have attempted to implement shape reconstruction and force estimation capabilities for sensors with omnidirectional se…
Autonomous navigation in mobile robots has made significant advancements; however, traditional methods often struggle to adapt in real-time to dynamic or unstructured environments. This paper presents the Online Planner's Parameter Adaptation (OPPA) framework, which enhances both adaptability and sa
Dexterous robotic grasping gains great benefits from tactile sensation, but delicate object exploration by tactile information is challenged by difficulty in rich and efficient data production. In this letter, we propose a tactile-based in-hand object perception approach, empowered by a sim-to-real
Unsupervised anomaly detection (UAD) is a widely adopted approach in industry due to rare anomaly occurrences and data imbalance. A desirable characteristic of an UAD model is contained generalization ability which excels in the reconstruction of seen normal patterns but struggles with unseen anomal…
This study proposes a bidirectional double-spring pneumatic artificial muscle (PAM) with inductive self-sensing for wearable robotic devices. The actuator structure, composed of commercially available latex and springs, enables a low-cost and consistent manufacturing process. Springs, which serve as
A pneumatic artificial muscle (PAM) has been widely adopted in a wide range of wearable applications, but the bulkiness and the slow response of the actuator have remained a challenge. In this work, we developed a flat fabric PAM (ffPAM), achieving high compactness, rapid response, and low hysteresi
Electrical resistance tomography (ERT) has previously been utilized to develop a large-scale tactile sensor because this approach enables the estimation of the conductivity distribution among the electrodes based on a known physical model. Such a sensor made with a stretchable material can conform t…
Tactile sensors based on electrical resistance tomography (ERT) have shown many advantages for implementing a soft and scalable whole-body robotic skin; however, calibration is challenging because pressure reconstruction is an ill-posed inverse problem. This paper introduces a method for calibrating…
A data-driven approach has recently been investigated for identifying human joint angles by means of soft strain sensors because of the corresponding modeling difficulty. However, this approach commonly incurs a high computational burden due to the voluminous amount of data required and the time-ser
Recently, a whole-body tactile sensing have emerged in robotics for safe human-robot interaction. A key issue in the whole-body tactile sensing is ensuring large-area manufacturability and high durability. To fulfill these requirements, a reconstruction method called electrical impedance tomography…