4 accepted papers
Tactile sensing is essential for enabling dexterous robotic manipulation, yet estimating contact states such as location and force from high-dimensional sensor measurements remains challenging due to noise and complex nonlinear mappings between raw signals and physical interaction states. In this wo…
Soft continuum robots possess inherent compliance and ensure safe interactions. Whilst advantageous, their high degrees of freedom pose significant challenges for estimating the robot's configuration and sensing external contacts. Existing analytical methods rely on finite state-representations that
Obtaining dense contact information for feedback control is vital for robotic manipulation. However, existing tactile sensing technologies have a large footprint, making seamless integration with current robotic devices difficult. This paper presents a novel multi-layer Electrical Impedance Tomograp
Soft continuum robots, characterized by their inherent compliance and dexterity, are increasingly pivotal in applications requiring delicate interactions with the environment such as the medical field. Despite their advantages, challenges persist in accurately modeling and controlling their shape du…