7 papers
A virtual-variable-length method for robust inverse kinematics of multi-segment continuum robots
Weiting Feng, Federico Renda, Yunjie Yang +1
This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initiali…
Gust Estimation and Rejection with a Disturbance Observer for Proprioceptive Underwater Soft Morphing Wings
Tobias Cook, Leo Micklem, Huazhi Dong +3
Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturban…
Efficient Tactile Perception with Soft Electrical Impedance Tomography and Pre-trained Transformer
Huazhi Dong, Ronald B. Liu, Sihao Teng +5
Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area t…
Computing forward statics from tendon-length in flexible-joint hyper-redundant manipulators
Weiting Feng, Kyle L. Walker, Yunjie Yang +1
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting…
Optimized Lattice-Structured Flexible EIT Sensor for Tactile Reconstruction and Classification
Huazhi Dong, Sihao Teng, Xu Han +3
Flexible electrical impedance tomography (EIT) offers a promising alternative to traditional tactile sensing approaches, enabling low-cost, scalable, and deformable sensor designs.…
Modular Soft Wearable Glove for Real-Time Gesture Recognition and Dynamic 3D Shape Reconstruction
Huazhi Dong, Chunpeng Wang, Mingyuan Jiang +2
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and indus…