Soft robots have garnered interest for real-world applications because of their intrinsic safety embedded at the material level. These robots use deformable materials capable of shape and behavioral changes and allow conformable physical contact for ...
The sense of touch enables us to safely interact and control our contacts with our surroundings. Many technical systems and applications could profit from a similar type of sense. Yet, despite the emergence of e-skin systems covering more extensive a...
Grasping force control is important for multi-fingered robotic hands to stabilize the grasped object. Humans are able to adjust their grasping force and react quickly to instabilities through tactile sensing. However, grasping force control through t...
A bionic artificial device commonly integrates various distributed functional units to mimic the functions of biological sensory neural system, bringing intricate interconnections, complicated structure, and interference in signal transmission. Here ...
This article presents a novel approach to haptic teleoperation. Specifically, we use control barrier functions (CBFs) to generate force feedback to help human operators safely fly quadrotor UAVs. CBFs take a control signal as input and output a contr...
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor capabiliti...
Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-l...
Neural networks : the official journal of the International Neural Network Society
Dec 9, 2019
We implemented a functional neuronal network that was able to learn and discriminate haptic features from biomimetic tactile sensor inputs using a two-layer spiking neuron model and homeostatic synaptic learning mechanism. The first order neuron mode...
In this paper, a novel method of active tactile perception based on 3D neural networks and a high-resolution tactile sensor installed on a robot gripper is presented. A haptic exploratory procedure based on robotic palpation is performed to get press...
Tactile sensing is the current challenge in robotics and object manipulation by machines. The robot's agile interaction with the environment requires pressure sensors to detect not only location and value, but also touch direction. The paper presents...