5 papers
Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles
Tufail Ahmad Bhat, Shuhei Ikemoto
Unlike conventional rigid-link robots defined by discrete joints, continuum robots pose a fundamental challenge for expressing their complex continuous bending configurations for c…
Self Capacitive Tactile Sensor System designed for Companion Robots
Mohsin Ali, Hidenobu Sumioka, Shuhei Ikemoto
Tactile sensing is essential for humanoid robots to achieve safe physical interaction, dexterous manipulation, and truly human-like responsiveness. However, the design of such syst…
Spatial Partial Functionalization of Neural Networks based on Noise Fields
Shuhei Ikemoto, Fabio DallaLibera
Noise in neural computation is typically regarded as a disturbance, but its spatial distribution may also actively regulate which parts of a network participate in computation. Thi…
Proprioceptive Shape Estimation of Tensegrity Manipulators Using Energy Minimisation
Tufail Ahmad Bhat, Shuhei Ikemoto
Shape estimation is fundamental for controlling continuously bending tensegrity manipulators, yet achieving it remains a challenge. Although using exteroceptive sensors makes the i…
Haptic in-sensor computing device made of carbon nanotube-polydimethylsiloxane nanocomposites
Kouki Kimizuka, Saman Azhari, Shoshi Tokuno +5
The importance of haptic in-sensor computing devices has been increasing. In this study, we successfully fabricated a haptic sensor with a hierarchical structure via the sacrificia…