Stefan Escaida Navarro — accepted AI-conference papers

2025

Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications

Carolina Silva Plata, Carlos Rosel, Barnabas Gavin Cangan, Hosam Alagi, Björn Hein, Robert K. Katzschmann +3

RA-L 2025

In this letter, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furt

Cited by 5 Source ↗Scholar ↗

2024

Multi-Tap Resistive Sensing and FEM Modeling Enables Shape and Force Estimation in Soft Robots

Sizhe Tian, Barnabas Gavin Cangan, Stefan Escaida Navarro, Artem Beger, Christian Duriez, Robert K. Katzschmann

RA-L 2024

We address the challenge of reliable and accurate proprioception in soft robots, specifically soft robots with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have commonly been tried using a constant curvature assumpt

Cited by 16 Source ↗Scholar ↗

2023

An Open Source Design Optimization Toolbox Evaluated on a Soft Finger

Stefan Escaida Navarro, Tanguy Navez, Olivier Goury, Luis Molina, Christian Duriez

RA-L 2023

In this letter, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that is changing the way in which designs will be shared and adopted. We evaluate this toolbox on the example of a cable-driv

Cited by 9 Source ↗code ↗Scholar ↗

2022

Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing

Barnabas Gavin Cangan, Stefan Escaida Navarro, Bai Yang, Yu Zhang, Christian Duriez, Robert K. Katzschmann

IROS 2022poster

To aid in real-world situations, soft robots need to be able to estimate their state and external interactions based on proprioceptive sensors. Estimating disturbances allows a soft robot to perform desirable force control. However, even in the case of rigid manipulators, force estimation at the end…

Cited by 11 Source ↗Scholar ↗

2020

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Stefan Escaida Navarro, Steven Nagels, Hosam Alagi, Lisa-Marie Faller, Olivier Goury, Thor Morales Bieze +6

RA-L 2020

In this letter, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of soft capacitive sensing to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the

Cited by 63 Source ↗Scholar ↗

2019

Modeling Novel Soft Mechanosensors Based on Air-Flow Measurements

Stefan Escaida Navarro, Olivier Goury, Gang Zheng, Thor Morales Bieze, Christian Duriez

RA-L 2019

In this letter, we introduce a new pneumatic mechanosensor dedicated to Soft Robotics and propose a generic method to reconstruct the magnitude of a contact-force acting on it. Changes in cavity volumes inside a soft silicon pad are measured by air-flow sensors. The resulting mechanosensor is charac

Cited by 18 Source ↗Scholar ↗

2018

Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution

Hosam Alagi, Alexander Heiligl, Stefan Escaida Navarro, Torsten Kroegerl, Björn Hein

IROS 2018poster

In this paper we present an approach for material recognition using capacitive tactile and proximity sensors. By variating the spatial resolution and the exciter frequency during the measurement in mutual capacitive mode, information about the dielectrical properties of different objects was capture…

Cited by 29 Source ↗Scholar ↗

2016

3D contour following for a cylindrical end-effector using capacitive proximity sensors

Stefan Escaida Navarro, Stefan Koch, Bjórn Hein

IROS 2016poster

In this paper we've equipped a cylindrical end-effector with an array of capacitive sensors in order to implement 3D contour following. During the task, using proximity servoing, the sensors are aligned parallel to the surface and kept at a target distance. In addition, due to the spatial resolution…

Cited by 22 Source ↗Scholar ↗

2015

Telemanipulation with force-based display of proximity fields

Stefan Escaida Navarro, Franz Heger, Felix Putze, Tim Beyl, Tanja Schultz, Björn Hein

IROS 2015poster

In this paper we show and evaluate the design of a novel telemanipulation system that maps proximity values, acquired inside of a gripper, to forces a user can feel through a haptic input device. The command console is complemented by input-devices that give the user an intuitive control over parame…

Cited by 14 Source ↗Scholar ↗