4 accepted papers
In this paper, we propose a design of an underwater soft snake-like robot prototype that uses two actuators made of 3D-printed soft materials to build the robot body. Control signals with appropriate displacement phases and different voltages are used to control the water pump to drive the soft actu
Developing haptic devices with advanced haptic rendering capabilities is challenging due to the limitations in current actuation mechanisms. This paper presents a dual-modal haptic device based on low-cost, AC-driven hydraulically amplified self-healing electrostatic (HASEL) actuators, designed to p
Graph Neural Networks (GNNs) have emerged as the *de facto* standard for representation learning on graphs, owing to their ability to effectively integrate graph topology and node attributes. However, the inherent suboptimal nature of node connections, resulting from the complex and contingent forma…
In this paper, a bilateral teleoperation control of a serial robot manipulator, which guarantees a Remote Center of Motion (RCM) constraint in its kinematic level, is developed. A two-layered approach based on the energy tank model is proposed to achieve haptic feedback on the end effector with a pe…