3 papers
cs.RO2026
Multimodal Sensing for Robot-Assisted Sub-Tissue Feature Detection in Physiotherapy Palpation
Tian-Ao Ren, Jorge Garcia, Seongheon Hong +6
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact mu…
cs.RO2025
Contact Sensing via Joint Torque Sensors and a Force/Torque Sensor for Legged Robots
Jared Grinberg, Yanran Ding
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a…
cs.RO2025
3D Steering and Localization in Pipes and Burrows using an Externally Steered Soft Growing Robot
Yimeng Qin, Jared Grinberg, William Heap +1
Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptabilit…