4 papers
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…
CoinFT: A Coin-Sized, Capacitive 6-Axis Force Torque Sensor for Robotic Applications
Hojung Choi, Jun En Low, Tae Myung Huh +7
We introduce CoinFT, a capacitive 6-axis force/torque (F/T) sensor that is compact, light, low-cost, and robust with an average root-mean-squared error of 0.16N for force and 1.08m…
SLAP: Slapband-based Autonomous Perching Drone with Failure Recovery for Vertical Tree Trunks
Julia Di, Kenneth A. W. Hoffmann, Tony G. Chen +2
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts…
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
Julia Di, Zdravko Dugonjic, Will Fu +11
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniatu…