5 papers · 1 filter
Robust Learning-Based Incipient Slip Detection using the PapillArray Optical Tactile Sensor for Improved Robotic Gripping
Qiang Wang, Pablo Martinez Ulloa, Robert Burke +2
The ability to detect slip, particularly incipient slip, enables robotic systems to take corrective measures to prevent a grasped object from being dropped. Therefore, slip detecti…
Estimating Lower Body Kinematics using a Lie Group Constrained Extended Kalman Filter and Reduced IMU Count
Luke Wicent Sy, Nigel H. Lovell, Stephen J. Redmond
Goal: This paper presents an algorithm for estimating pelvis, thigh, shank, and foot kinematics during walking using only two or three wearable inertial sensors. Methods: The algor…
A Biomimetic Tactile Fingerprint Induces Incipient Slip
Jasper W. James, Stephen J. Redmond, Nathan F. Lepora
We present a modified TacTip biomimetic optical tactile sensor design which demonstrates the ability to induce and detect incipient slip, as confirmed by recording the movement of…
Estimating Lower Limb Kinematics using a Lie Group Constrained EKF and a Reduced Wearable IMU Count
Luke Sy, Nigel H. Lovell, Stephen J. Redmond
This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately…
Estimating Lower Limb Kinematics using a Reduced Wearable Sensor Count
Luke Sy, Michael Raitor, Michael Del Rosario +4
Goal: This paper presents an algorithm for accurately estimating pelvis, thigh, and shank kinematics during walking using only three wearable inertial sensors. Methods: The algorit…