13 accepted papers
Soft grippers have shown promising performance in safe and adaptive grasping tasks. However, they often suffer from limitations in grasping force. To address this challenge, this paper presents a novel pneumatic three-finger soft gripper to achieve robust adaptive grasping. The gripper consists of t
Loop closure detection (LCD) plays a crucial role in simultaneous localization and mapping (SLAM) systems to eliminate accumulated odometry drifts as the map is built, and using multi-modal information can improve the accuracy and robustness of this system compared to single sensor. However, traditi
Inspired by the bionic characteristics of ankle and calf skeletal muscles, a novel ankle-foot prosthesis (AFP) with variable stiffness mechanisms (VSMs) is proposed to assist transtibial amputees to restore ankle plantarflexion-dorsiflexion. The prosthesis is designed in the form of a spring-loaded
Monocular depth estimation (MDE) is a fundamental topic of geometric computer vision and a core technique for many downstream applications. Recently, several methods reframe the MDE as a classification-regression problem where a linear combination of probabilistic distribution and bin centers is use…
Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by assuming that 3D scenes are constituted by piece-wise planes. Parti…
In this paper, a novel adjustable-stiffness force sensor is developed for multitask measurements requiring different force resolutions and ranges. The applied force of the force sensor is indirectly measured through the linear deformation instead of the structure strain through an optical linear enc…
Depth completion refers to inferring the dense depth map from a sparse depth map with or without corre-sponding color image. Numerous neural networks have been proposed to accomplish this task. However, insufficient uti-lization of heteromorphic data and the fact that predicted dense depth prefers a…
High resolution and large range force/torque (F/T) measurements are usually required in many engineering tasks. However, most existing F/T sensors only have a fixed resolution over their whole ranges. The key lies in that it is difficult to well balance high resolution and large range in the sensor…
A major challenge in electroencephalogram (EEG) signal classification is that the EEG signals recorded from different subjects are drawn from different distributions. When the unlabeled EEG data of the new subject arrive, called target domain, classifying them with a classifier trained on prerecorde…
Self-supervised learning algorithms that compute depth map from monocular videos have achieved remarkable performance on urban scenes and have been applied extensively. These techniques still face significant challenges, however, when applied directly to endoscopic videos because of the brightness v…
This paper presents a novel portable passive lower limb exoskeleton for walking assistance. The exoskeleton is designed with built-in spring mechanisms at the hip and knee joints to realize gravity balancing of the human leg. A pair of mating gears is used to convert the tension force from the built…
In this paper, a novel revolute joint of adjustable stiffness with reconfigurability (JASR) is presented. The JASR is designed with zero-length base link four-bar linkage, and allows adjusting its stiffness to achieve soft- and hard-spring behaviour. The new joint has a compact and light-weight stru…
Loop closure detection (LCD) is a crucial technique for robots, which can correct accumulated localization errors after long time explorations. In this paper, we propose a robust LCD algorithm based on Bag of SuperPoints and graph verification. The system first extracts interest points and feature d…