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Journal articles on the topic 'Robotic sensing'

Author: Grafiati

Published: 4 June 2021

Last updated: 7 February 2022

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1

Bogue, Robert. "Recent developments in robotic tactile perception." Industrial Robot: An International Journal 44, no. 5 (August 21, 2017): 565–70. http://dx.doi.org/10.1108/ir-06-2017-0106.

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Purpose This paper aims to provide details of recent developments in robotic tactile sensing. Design/methodology/approach Following a short introduction, this paper first provides an overview of tactile sensing effects and technologies. It then discusses recent developments in tactile sensing skins. Tactile sensing for robotic prosthetics and hands is then considered and is followed by a discussion of “tactile intelligence”. Various experimental results are included. Finally, brief concluding comments are drawn. Findings This shows that many advanced, sensitive and technologically varied tactile sensing devices are being developed. These devices are expected to impart robots with a range of enhanced capabilities such as improved gripping and manipulation, object recognition, the control and robotic hands and prosthetics and collision detection. Originality/value Tactile sensing has an increasingly important role to play in robotics, and this paper provides a technical insight into a number of recent developments and their applications.

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Bogue, Robert. "Tactile sensing for surgical and collaborative robots and robotic grippers." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 1–6. http://dx.doi.org/10.1108/ir-12-2018-0255.

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Purpose This paper aims to illustrate the increasingly important role played by tactile sensing in robotics by considering three specific fields of application. Design/methodology/approach Following a short introduction, this paper first provides details of tactile sensing principles, technologies, products and research. The following sections consider tactile sensing applications in robotic surgery, collaborative robots and robotic grippers. Finally, brief conclusions are drawn. Findings Tactile sensors are the topic of an extensive and technologically diverse research effort, with sensing skins attracting particular attention. Many products are now available commercially. New generations of surgical robots are emerging which use tactile sensing to provide haptic feedback, thereby eliminating the surgeon’s total reliance on visual control. Many collaborative robots use tactile and proximity sensing as key safety mechanisms and some use sensing skins. Some skins can detect both human proximity and physical contact. Sensing skins that can be retrofitted have been developed. Commercial tactile sensors have been incorporated into robotic grippers, notably anthropomorphic types, and allow the handling of delicate objects and those with varying shapes and sizes. Tactile sensing uses will inevitably increase because of the ever-growing numbers of robots interacting with humans. Originality/value This study provides a detailed account of the growing use of tactile sensing in robotics in three key areas of application.

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Zhang, Feitian, Francis D. Lagor, Hong Lei, Xiaobo Tan, and Derek A. Paley. "Robotic Fish." Mechanical Engineering 138, no. 03 (March 1, 2016): S2—S5. http://dx.doi.org/10.1115/1.2016-mar-6.

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This article reviews different research and development work on robotic fishes. The Collective Dynamics and Control Laboratory at the University of Maryland has constructed two robotic fish to study bio-inspired flow sensing and control of underwater vehicles. Bio-inspired flow sensing and flow-relative control using distributed sensor measurements have been described and demonstrated with two underwater robots. Prototypes of the robotic fish have been designed for experiments to include a rigid airfoil-shaped robot and a flexible, self-propelled robot. The closed-loop control of the flexible robot comprised feedforward and feedback controls. The feedforward term accelerates the convergence of the tracking control, and the feedback term improves the tracking performance by reducing the steady-state error. Rheotaxis and speed-control experiments have demonstrated the effectiveness of the flow sensing and control algorithms. In ongoing work, teams are investigating a novel actuation approach using an internal reaction wheel for flexible fish propulsion.

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Taylor, P. M. "Sensing in Advanced Robotic Assembly." Measurement and Control 23, no. 2 (March 1990): 43–47. http://dx.doi.org/10.1177/002029409002300203.

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Zhu, Lingfeng, Yancheng Wang, Deqing Mei, and Chengpeng Jiang. "Development of Fully Flexible Tactile Pressure Sensor with Bilayer Interlaced Bumps for Robotic Grasping Applications." Micromachines 11, no. 8 (August 12, 2020): 770. http://dx.doi.org/10.3390/mi11080770.

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Flexible tactile sensors have been utilized in intelligent robotics for human-machine interaction and healthcare monitoring. The relatively low flexibility, unbalanced sensitivity and sensing range of the tactile sensors are hindering the accurate tactile information perception during robotic hand grasping of different objects. This paper developed a fully flexible tactile pressure sensor, using the flexible graphene and silver composites as the sensing element and stretchable electrodes, respectively. As for the structural design of the tactile sensor, the proposed bilayer interlaced bumps can be used to convert external pressure into the stretching of graphene composites. The fabricated tactile sensor exhibits a high sensing performance, including relatively high sensitivity (up to 3.40% kPa−1), wide sensing range (200 kPa), good dynamic response, and considerable repeatability. Then, the tactile sensor has been integrated with the robotic hand finger, and the grasping results have indicated the capability of using the tactile sensor to detect the distributed pressure during grasping applications. The grasping motions, properties of the objects can be further analyzed through the acquired tactile information in time and spatial domains, demonstrating the potential applications of the tactile sensor in intelligent robotics and human-machine interfaces.

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Liu, Ji Zhong, Ru Yuan Ma, Yuan Bin Mo, and Ming Liang Jin. "A Simple Deterministic 0-1 Measurement Matrix for Robotic Embedded Vision Compressed Sensing." Applied Mechanics and Materials 433-435 (October 2013): 257–60. http://dx.doi.org/10.4028/www.scientific.net/amm.433-435.257.

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Embedded environmental vision is a key issue for robotics. However, the image data is large, which usually will seriously affect the system processing speed and performance. Aiming at the feasibility and the real-time performance of robotic embedded vision system, by combining the up-to-date compressed sensing technology, a novel wavelet sparsity based simple deterministic 0-1 measurement matrix (0-1SDMM) is designed. The simulation results in matlab environment show that the 0-1SDMM has better performance than traditional Gaussian matrix in reconstruction result and reconstruction time. It provides an important reference for the future robotic embedded vision system.

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Dissanayake, Gamini. "Introduction." Robotica 19, no. 5 (August 29, 2001): 465–66. http://dx.doi.org/10.1017/s026357470100340x.

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Field robotics is the use of autonomous robotic systems in highly challenging applications areas including; mining, construction, cargo handling, agriculture, subsea and aerospace systems. The focus of field robotics research is on large-scale outdoor autonomous systems in applications that are characterised by relatively unstructured, difficult and often hazardous environments. It draws together the most advanced research areas in robotics, including; navigation and control, sensing and data fusion, safety and reliability, and planning and logistics.

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Molton, Nicholas, Stephen Se, Michael Brady, David Lee, and Penny Probert. "Robotic sensing for the partially sighted." Robotics and Autonomous Systems 26, no. 2-3 (February 1999): 185–201. http://dx.doi.org/10.1016/s0921-8890(98)00068-2.

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Nguyen, Minh T., and Hamid R. Boveiri. "Energy-efficient sensing in robotic networks." Measurement 158 (July 2020): 107708. http://dx.doi.org/10.1016/j.measurement.2020.107708.

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Tairych, Andreas, and Iain A. Anderson. "Capacitive Stretch Sensing for Robotic Skins." Soft Robotics 6, no. 3 (June 2019): 389–98. http://dx.doi.org/10.1089/soro.2018.0055.

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Negahdaripour, S., A. Shokrollahi, and C. H. Yu. "Optical sensing for undersea robotic vehicles." Robotics and Autonomous Systems 7, no. 2-3 (August 1991): 151–63. http://dx.doi.org/10.1016/0921-8890(91)90039-n.

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Gómez Eguíluz, A., I. Rañó, S. A. Coleman, and T. M. McGinnity. "Reliable robotic handovers through tactile sensing." Autonomous Robots 43, no. 7 (January 2, 2019): 1623–37. http://dx.doi.org/10.1007/s10514-018-09823-2.

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Subad, Rafsan Al Shafatul Islam, Liam B. Cross, and Kihan Park. "Soft Robotic Hands and Tactile Sensors for Underwater Robotics." Applied Mechanics 2, no. 2 (June 8, 2021): 356–83. http://dx.doi.org/10.3390/applmech2020021.

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Research in the field of underwater (UW) robotic applications is rapidly developing. The emergence of coupling the newest technologies on submersibles, different types of telecommunication devices, sensors, and soft robots is transforming the rigid approach to robotic design by providing solutions that bridge the gap between accuracy and adaptability in an environment where there is so much fluctuation in object targeting and environmental conditions. In this paper, we represent a review of the history, development, recent research endeavors, and projected outlook for the area of soft robotics technology pertaining to its use with tactile sensing in the UW environment.

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Fue, Kadeghe, Wesley Porter, Edward Barnes, and Glen Rains. "An Extensive Review of Mobile Agricultural Robotics for Field Operations: Focus on Cotton Harvesting." AgriEngineering 2, no. 1 (March 4, 2020): 150–74. http://dx.doi.org/10.3390/agriengineering2010010.

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In this review, we examine opportunities and challenges for 21st-century robotic agricultural cotton harvesting research and commercial development. The paper reviews opportunities present in the agricultural robotics industry, and a detailed analysis is conducted for the cotton harvesting robot industry. The review is divided into four sections: (1) general agricultural robotic operations, where we check the current robotic technologies in agriculture; (2) opportunities and advances in related robotic harvesting fields, which is focused on investigating robotic harvesting technologies; (3) status and progress in cotton harvesting robot research, which concentrates on the current research and technology development in cotton harvesting robots; and (4) challenges in commercial deployment of agricultural robots, where challenges to commercializing and using these robots are reviewed. Conclusions are drawn about cotton harvesting robot research and the potential of multipurpose robotic operations in general. The development of multipurpose robots that can do multiple operations on different crops to increase the value of the robots is discussed. In each of the sections except the conclusion, the analysis is divided into four robotic system categories; mobility and steering, sensing and localization, path planning, and robotic manipulation.

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Nederbragt, Walter W., and Bahram Ravani. "Enumeration of Contact Geometries for Kinematic Registration Using Tactile Sensing Fixtures." Journal of Mechanical Design 128, no. 1 (May 5, 2005): 34–45. http://dx.doi.org/10.1115/1.2118731.

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This paper uses group theory for enumeration of contacts between geometric elements necessary for kinematic registration or part referencing in robotics. The results are applied to type synthesis of tactile sensing mechanical fixtures. Kinematic registration is an important step in robot calibration and in data driven automation. Although the scope of the paper is limited to geometric contacts involving points, lines, planar surfaces, cylindrical surfaces, and spherical surfaces, the techniques developed are general and can be applied to other geometric features and non-tactile sensing elements used in robotic calibration and part referencing.

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RUSSELL, R. ANDREW, GEOFFREY TAYLOR, LINDSAY KLEEMAN, and ANIES H. PURNAMADJAJA. "MULTI-SENSORY SYNERGIES IN HUMANOID ROBOTICS." International Journal of Humanoid Robotics 01, no. 02 (June 2004): 289–314. http://dx.doi.org/10.1142/s0219843604000162.

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Sensing is a key element for any intelligent robotic system. This paper describes the current progress of a project in the Intelligent Robotics Research Center at Monash University that has the aim of developing a synergistic set of sensory systems for a humanoid robot. Currently, sensing modes for colour vision, stereo vision, active range, smell and airflow are being developed in a size and form that is compatible with the humanoid appearance. Essential considerations are sensor calibration and the processing of sensor data to give reliable information about properties of the robot's environment. In order to demonstrate the synergistic use of all of the available sensory modes, a high level supervisory control scheme is being developed for the robot. All time-stamped sensor data together with derived information about the robot's environment are organized in a blackboard system. Control action sequences are then derived from the blackboard data based on a task description. The paper presents details of each of the robot's sensory systems, sensor calibration, and supervisory control. Results are also presented of a demonstration project that involves identifying and selecting mugs containing household chemicals. Proposals for future development of the humanoid robot are also presented.

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17

Bogue, Rob. "New technologies for robotic tactile sensing and navigation." Industrial Robot: the international journal of robotics research and application 48, no. 4 (June 4, 2021): 478–83. http://dx.doi.org/10.1108/ir-03-2021-0054.

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Purpose This aims to provide details of new sensor technologies and developments with potential applications in robotic tactile sensing and navigation. Design/methodology/approach Following a short introduction, this provides examples of tactile sensing research. This is followed by details of research into inertial sensors and other navigation techniques. Finally, brief conclusions are drawn. Findings This shows that tactile sensing and navigation techniques are the topic of a technologically diverse research effort which has prospects to impart various classes of robots with significantly enhanced capabilities. Originality/value This provides a technically detailed insight into recent sensor research with applications in robotic tactile sensing and navigation.

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18

Howe, Robert D. "Tactile sensing and control of robotic manipulation." Advanced Robotics 8, no. 3 (January 1993): 245–61. http://dx.doi.org/10.1163/156855394x00356.

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19

Ishida, H., Y. Wada, and H. Matsukura. "Chemical Sensing in Robotic Applications: A Review." IEEE Sensors Journal 12, no. 11 (November 2012): 3163–73. http://dx.doi.org/10.1109/jsen.2012.2208740.

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20

Speeter, Thomas H. "A Tactile Sensing System for Robotic Manipulation." International Journal of Robotics Research 9, no. 6 (December 1990): 25–36. http://dx.doi.org/10.1177/027836499000900603.

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21

Ru, Changhai, Xuping Zhang, Yajing Shen, and Yong Zhang. "Sensing and Intelligent Perception in Robotic Applications." Journal of Sensors 2016 (2016): 1. http://dx.doi.org/10.1155/2016/6365959.

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22

Guo, Di, Fuchun Sun, Bin Fang, Chao Yang, and Ning Xi. "Robotic grasping using visual and tactile sensing." Information Sciences 417 (November 2017): 274–86. http://dx.doi.org/10.1016/j.ins.2017.07.017.

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23

Myung, Hyun, and Yang Wang. "Robotic Sensing and Systems for Smart Cities." Sensors 21, no. 9 (April 23, 2021): 2963. http://dx.doi.org/10.3390/s21092963.

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24

Pirozzi, Salvatore. "Tactile Sensors for Robotic Applications." Sensors 20, no. 24 (December 8, 2020): 7009. http://dx.doi.org/10.3390/s20247009.

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Sousa, Maria João, Alexandra Moutinho, and Miguel Almeida. "Thermal Infrared Sensing for Near Real-Time Data-Driven Fire Detection and Monitoring Systems." Sensors 20, no. 23 (November 28, 2020): 6803. http://dx.doi.org/10.3390/s20236803.

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With the increasing interest in leveraging mobile robotics for fire detection and monitoring arises the need to design recognition technology systems for these extreme environments. This work focuses on evaluating the sensing capabilities and image processing pipeline of thermal imaging sensors for fire detection applications, paving the way for the development of autonomous systems for early warning and monitoring of fire events. The contributions of this work are threefold. First, we overview image processing algorithms used in thermal imaging regarding data compression and image enhancement. Second, we present a method for data-driven thermal imaging analysis designed for fire situation awareness in robotic perception. A study is undertaken to test the behavior of the thermal cameras in controlled fire scenarios, followed by an in-depth analysis of the experimental data, which reveals the inner workings of these sensors. Third, we discuss key takeaways for the integration of thermal cameras in robotic perception pipelines for autonomous unmanned aerial vehicle (UAV)-based fire surveillance.

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Xu, Yangsheng, and R. P. Paul. "Robotic Instrumented Complaint Wrist." Journal of Engineering for Industry 114, no. 1 (February 1, 1992): 120–23. http://dx.doi.org/10.1115/1.2899749.

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A robotic complaint wrist which combines a passive compliance device and a displacement sensor has been developed and tested. The device provides the necessary flexibility to accommodate transitions between the position control and force control modes, and avoid large impact forces as a robot makes contact with parts, as well as correct positioning errors and allow the relaxation of tolerances in assembly and manufacturing operations. The device installed between a robot arm and end-effector is composed of two parts: a passive compliance device and a sensing mechanism. The passive compliance is provided by a rubber structure; its configuration can be arranged to yield the desired stiffness ratio along and about each axis. The sensing mechanism consists of a six-joint serial linkage with a transducer at each point. The measured deflection is used to actively control the contact forces and compensate for the positioning error during motion and contact. In this paper, the design features of two prototypes of the device are described. A systematic hybrid position/force control scheme incorporating the device is presented.

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Havlík, Štefan, and Jaroslav Hricko. "Mechanisms for Small and Micro Robotic Devices." Applied Mechanics and Materials 613 (August 2014): 11–20. http://dx.doi.org/10.4028/www.scientific.net/amm.613.11.

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The paper deals with problems of designing and evaluation of compliant mechanisms for small and micro robotic devices. These kinematic mechanisms are usually made from a piece of elastic material in case of positioning systems, or, create the flexural body for multi-component sensing devices. The compliance characteristics mechanical segments: joints, arms, are discussed and the procedure for evaluation / comparing characteristics of particular segments, as well as whole elastic structures is proposed. It is briefly discussed that mechanisms for this kind of devices should integrate functional features of positioning and sensing systems. The concept of the x – y micro positioning mechanisms with two-component force sensing capability is presented as an illustrative example.

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Hamed, Abbi, Sai Chun Tang, Hongliang Ren, Alex Squires, Chris Payne, Ken Masamune, Guoyi Tang, Javad Mohammadpour, and Zion Tsz Ho Tse. "Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis." Journal of Robotics 2012 (2012): 1–14. http://dx.doi.org/10.1155/2012/412816.

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The developments of medical practices and medical technologies have always progressed concurrently. The relatively recent developments in endoscopic technologies have allowed the realization of the “minimally invasive” form of surgeries. The advancements in robotics facilitate precise surgeries that are often integrated with medical image guidance capability. This in turn has driven the further development of technology to compensate for the unique complexities engendered by this new format and to improve the performance and broaden the scope of the procedures that can be performed. Medical robotics has been a central component of this development due to the highly suitable characteristics that a robotic system can purport, including highly optimizable mechanical conformation and the ability to program assistive functions in medical robots for surgeons to perform safe and accurate minimally invasive surgeries. In addition, combining the robot-assisted interventions with touch-sensing and medical imaging technologies can greatly improve the available information and thus help to ensure that minimally invasive surgeries continue to gain popularity and stay at the focus of modern medical technology development. This paper presents a state-of-the-art review of robotic systems for minimally invasive and noninvasive surgeries, precise surgeries, diagnoses, and their corresponding technologies.

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REN, HONGLIANG, and MAX Q. H. MENG. "INVESTIGATION OF NAVIGATION AND ROBOTIC SYSTEM FOR COMPUTER ASSISTED ORTHOPEDIC SURGERY: STATE-OF-ART AND PRELIMINARY RESULTS." International Journal of Information Acquisition 06, no. 03 (September 2009): 171–79. http://dx.doi.org/10.1142/s0219878909001904.

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In order to help surgeons improve tool insertion accuracy in pelvic-acetabular surgery, it is very important to take advantage of the emerging navigation, guidance and robotics technologies. The computer integrated surgical system is promising for pelvic-acetabular surgery. In most of the procedures of pelvic-acetabular surgery, such as drilling or milling operations, there are many delicate operations involving inserting the tools accurately and precisely in a confined workspace. This article mainly investigates the most important two subsystems: navigation and robotic system, which perform sensing and actuating tasks, respectively. For navigation subsystem, a remark is made between the state-of-art optical tracking systems (OTS). A hybrid tracking method is proposed to integrate optical tracking and inertial sensing techniques, and some preliminary results are given through the proof-of-concepts experiments. For robotics subsystem, we survey the existing studies on the orthopedic compliant robot arms, together with our proposals for the pelvic surgery. We investigate some of the industrial robotics arms with good repeatability and dexterity while positioning the surgical tools.

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Lehman, Jessica. "From ships to robots: The social relations of sensing the world ocean." Social Studies of Science 48, no. 1 (December 4, 2017): 57–79. http://dx.doi.org/10.1177/0306312717743579.

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The dominant practices of physical oceanography have recently shifted from being based on ship-based ocean sampling and sensing to being based on remote and robotic sensing using satellites, drifting floats and remotely operated and autonomous underwater vehicles. What are the implications of this change for the social relations of oceanographic science? This paper contributes to efforts to address this question, pursuing a situated view of ocean sensing technologies so as to contextualize and analyze new representations of the sea, and interactions between individual scientists, technologies and the ocean. By taking a broad view on oceanography through a 50-year shift from ship-based to remote and robotic sensing, I show the ways in which new technologies may provide an opportunity to fight what Oreskes has called ‘ideologies of scientific heroism’. In particular, new sensing relations may emphasize the contributions of women and scientists from less well-funded institutions, as well as the ways in which oceanographic knowledge is always partial and dependent on interactions between nonhuman animals, technologies, and different humans. Thus, I argue that remote and robotic sensing technologies do not simply create more abstracted relations between scientists and the sea, but also may provide opportunities for more equitable scientific practice and refigured sensing relations.

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He, Long, and James Schupp. "Sensing and Automation in Pruning of Apple Trees: A Review." Agronomy 8, no. 10 (September 30, 2018): 211. http://dx.doi.org/10.3390/agronomy8100211.

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Pruning is one of the most important tree fruit production activities, which is highly dependent on human labor. Skilled labor is in short supply, and the increasing cost of labor is becoming a big issue for the tree fruit industry. Meanwhile, worker safety is another issue in the manual pruning. Growers are motivated to seek mechanical or robotic solutions for reducing the amount of hand labor required for pruning. Identifying tree branches/canopies with sensors as well as automated operating pruning activity are the important components in the automated pruning system. This paper reviews the research and development of sensing and automated systems for branch pruning in apple production. Tree training systems, pruning strategies, 3D structure reconstruction of tree branches, and practice mechanisms or robotics are some of the developments that need to be addressed for an effective tree branch pruning system. Our study summarizes the potential opportunities for automatic pruning with machine-friendly modern tree architectures, previous studies on sensor development, and efforts to develop and deploy mechanical/robotic systems for automated branch pruning. We also describe two examples of qualified pruning strategies that could potentially simplify the automated pruning decision and pruning end-effector design. Finally, the limitations of current pruning technologies and other challenges for automated branch pruning are described, and possible solutions are discussed.

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HUANG, JIAN-LIN, SHENG-JUI CHEN, GWO-JEN WU, CHUNG-LIN WU, and SHEAU-SHI PAN. "A PCB BASED CAPACITIVE SHEAR FORCE SENSOR DEVELOPED FOR ROBOTIC GRIPPER APPLICATION." International Journal of Modern Physics: Conference Series 24 (January 2013): 1360027. http://dx.doi.org/10.1142/s2010194513600276.

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The shear force sensor is one of the key elements in future robotic industry, it is of great importance in applications where robotic arms are required to delicately interact with objects to be handled. In this paper, we present the development of a capacitive shear force capable of sensing shear forces in two degrees of freedom. The fabrication of the sensor is based on the printed circuit board (PCB) fabrication process, a well-known and mature technology. We adopt the capacitance sensing scheme for its high sensitivity and easy implementation. For sensor characterization, we used a force gauge and an optical interferometer to measure sensor's parameters including its sensing coefficient and resolution. The dimension of our prototype shear force sensor including the metal housing is 26 mm×13 mm×58 mm suitable for the integration with commercial robotic grippers. For sensor performance, we achieved a shear force sensing coefficient of 23.3 fF/N and a resolution of smaller than 5mN.

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Guo, Jing, Bo Xiao, and Hongliang Ren. "Compensating Uncertainties in Force Sensing for Robotic-Assisted Palpation." Applied Sciences 9, no. 12 (June 25, 2019): 2573. http://dx.doi.org/10.3390/app9122573.

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Force sensing in robotic-assisted minimally invasive surgery (RMIS) is crucial for performing dedicated surgical procedures, such as bilateral teleoperation and palpation. Due to the bio-compatibility and sterilization requirements, a specially designed surgical tool/shaft is normally attached to the sensor while contacting the organ targets. Through this design, the measured force from the sensor usually contains uncertainties, such as noise, inertial force etc., and thus cannot reflect the actual interaction force with the tissue environment. Motivated to provide the authentic contact force between a robotic tool and soft tissue, we proposed a data-driven force compensation scheme without intricate modeling to reduce the effects of force measurement uncertainties. In this paper, a neural-network-based approach is utilized to automatically model the inertial force subject to noise during the robotic palpation procedure, then the exact contact force can be obtained through the force compensation method which cancels the noise and inertial force. Following this approach, the genuine interaction force during the palpation task can be achieved furthermore to improve the appraisal of the tumor surrounded by the soft tissue. Experiments are conducted with robotic-assisted palpation tasks on a silicone-based soft tissue phantom and the results verify the effectiveness of the suggested method.

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Acome, E., S. K. Mitchell, T. G. Morrissey, M. B. Emmett, C. Benjamin, M. King, M. Radakovitz, and C. Keplinger. "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance." Science 359, no. 6371 (January 4, 2018): 61–65. http://dx.doi.org/10.1126/science.aao6139.

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Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.

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Fountas, Spyros, Nikos Mylonas, Ioannis Malounas, Efthymios Rodias, Christoph Hellmann Santos, and Erik Pekkeriet. "Agricultural Robotics for Field Operations." Sensors 20, no. 9 (May 7, 2020): 2672. http://dx.doi.org/10.3390/s20092672.

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Modern agriculture is related to a revolution that occurred in a large group of technologies (e.g., informatics, sensors, navigation) within the last decades. In crop production systems, there are field operations that are quite labour-intensive either due to their complexity or because of the fact that they are connected to sensitive plants/edible product interaction, or because of the repetitiveness they require throughout a crop production cycle. These are the key factors for the development of agricultural robots. In this paper, a systematic review of the literature has been conducted on research and commercial agricultural robotics used in crop field operations. This study underlined that the most explored robotic systems were related to harvesting and weeding, while the less studied were the disease detection and seeding robots. The optimization and further development of agricultural robotics are vital, and should be evolved by producing faster processing algorithms, better communication between the robotic platforms and the implements, and advanced sensing systems.

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Deng, Zhen, Yannick Jonetzko, Liwei Zhang, and Jianwei Zhang. "Grasping Force Control of Multi-Fingered Robotic Hands through Tactile Sensing for Object Stabilization." Sensors 20, no. 4 (February 14, 2020): 1050. http://dx.doi.org/10.3390/s20041050.

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Grasping force control is important for multi-fingered robotic hands to stabilize the grasped object. Humans are able to adjust their grasping force and react quickly to instabilities through tactile sensing. However, grasping force control through tactile sensing with robotic hands is still relatively unexplored. In this paper, we make use of tactile sensing for multi-fingered robot hands to adjust the grasping force to stabilize unknown objects without prior knowledge of their shape or physical properties. In particular, an online detection module based on Deep Neural Network (DNN) is designed to detect contact events and object material simultaneously from tactile data. In addition, a force estimation method based on Gaussian Mixture Model (GMM) is proposed to compute the contact information (i.e., contact force and contact location) from tactile data. According to the results of tactile sensing, an object stabilization controller is then employed for a robotic hand to adjust the contact configuration for object stabilization. The spatio-temporal property of tactile data is exploited during tactile sensing. Finally, the effectiveness of the proposed framework is evaluated in a real-world experiment with a five-fingered Shadow Dexterous Hand equipped with BioTac sensors.

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Kaneko, Makoto, and Kazunobu Honkawa. "Compliant motion based active sensing by robotic fingers." IFAC Proceedings Volumes 27, no. 14 (September 1994): 137–42. http://dx.doi.org/10.1016/s1474-6670(17)47306-x.

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Romano, Joseph M., Kaijen Hsiao, Günter Niemeyer, Sachin Chitta, and Katherine J. Kuchenbecker. "Human-Inspired Robotic Grasp Control With Tactile Sensing." IEEE Transactions on Robotics 27, no. 6 (December 2011): 1067–79. http://dx.doi.org/10.1109/tro.2011.2162271.

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Qi, Jiang, and Jianhang Feng. "Design of robotic soft fingertip for contact sensing." Measurement 147 (December 2019): 106812. http://dx.doi.org/10.1016/j.measurement.2019.07.040.

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Bendemra, Hamza, Toufik Al Khawli, Muddasar Anwar, Dewald Swart, and Cesare Stefanini. "Force sensing drill jig for robotic assisted drilling." Industrial Robot: An International Journal 45, no. 2 (March 19, 2018): 181–92. http://dx.doi.org/10.1108/ir-11-2017-0208.

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Purpose The purpose of this paper is to present a novel force sensing jig for robot-assisted drilling used to drill holes for the fastening of floating nut plates in aircraft assembly. Design/methodology/approach The paper describes the drill jig, which consists of a parallel gripper, peg-in-hole pins and a back-plate with a recess where a Polydimethylsiloxane cone is placed on top of a force sensor. As the jig approaches the part, the force sensor registers the applied force until it reaches steady state, which indicates full contact between the jig and the part. The peg-in-hole pins then lock into a pre-existing hole, which provides a mechanical reference, and the support plate provides back support during drilling. Findings Positional accuracy and the repeatability of the system were successfully placed within the specification for accuracy and repeatability (0.1 mm tolerance and 0.2 mm tolerance, respectively). Practical implications The drill jig can be integrated into existing robot drilling solutions and modified for specific applications. The integration of the force sensor provides data for engineers to monitor and analyze forces during drilling. The design of the force sensing drill jig is particularly suited to industrial prototype robot drilling end-effectors for small and medium manufacturers. Originality/value The key novelties of this drilling jig are in the compact assembly, modular design and inclusion of force sensing and back support features.

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Alt, Nicolas, Clemens Schuwerk, Stefan Lochbrunner, and Gerd Denninger. "RoVi, Robotic manipulator with visuo-haptic sensing, ERC." Impact 2018, no. 11 (December 26, 2018): 45–47. http://dx.doi.org/10.21820/23987073.2018.11.45.

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Chin, Keene, Tess Hellebrekers, and Carmel Majidi. "Machine Learning for Soft Robotic Sensing and Control." Advanced Intelligent Systems 2, no. 6 (March 3, 2020): 1900171. http://dx.doi.org/10.1002/aisy.201900171.

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Ben-Tzvi, Pinhas, and Zhou Ma. "Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove." IEEE Transactions on Neural Systems and Rehabilitation Engineering 23, no. 6 (November 2015): 992–1002. http://dx.doi.org/10.1109/tnsre.2014.2378171.

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Tegin, Johan, and Jan Wikander. "Tactile sensing in intelligent robotic manipulation – a review." Industrial Robot: An International Journal 32, no. 1 (February 2005): 64–70. http://dx.doi.org/10.1108/01439910510573318.

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Bone, G. M., and M. A. Elbestawi. "Sensing and control for automated robotic edge deburring." IEEE Transactions on Industrial Electronics 41, no. 2 (April 1994): 137–46. http://dx.doi.org/10.1109/41.293873.

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Russell, R. Andrew. "Survey of Robotic Applications for Odor-Sensing Technology." International Journal of Robotics Research 20, no. 2 (February 2001): 144–62. http://dx.doi.org/10.1177/02783640122067318.

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Norberto Pires, J., John Ramming, Stephen Rauch, and Ricardo Araújo. "Force/torque sensing applied to industrial robotic deburring." Sensor Review 22, no. 3 (September 2002): 232–41. http://dx.doi.org/10.1108/02602280210433070.

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Wang, Weitian, Rui Li, Longxiang Guo, Z. Max Diekel, and Yunyi Jia. "Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing." Journal of Robotics 2018 (2018): 1–10. http://dx.doi.org/10.1155/2018/4546094.

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Intelligent robotic vehicles are more and more fully automated, without steering wheels, gas/brake pedals, or gearshifts. However, allowing the human driver to step in and maneuver the robotic vehicle under specific driving requirements is a necessary issue that should be considered. To this end, we propose a wearable-sensing-based hands-free maneuver intention understanding approach to assist the human to naturally operate the robotic vehicle without physical contact. The human intentions are interpreted and modeled based on the fuzzy control using the forearm postures and muscle activities information detected by a wearable sensory system, which incorporates electromyography (EMG) sensors and inertial measurement unit (IMU). Based on the maneuver intention understanding model, the human can flexibly, intuitively, and conveniently control diverse vehicle maneuvers only using his intention expressions. This approach was implemented by a series of experiments in the practical situations on a lab-based 1/10 robotic vehicle research platform. Experimental results and evaluations demonstrated that, by taking advantage of the nonphysical contact and natural handleability of this approach, the robotic vehicle was successfully and effectively maneuvered to finish the driving tasks with considerable accuracy and robustness in human-robotic vehicle interaction.

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Bhardwaj, Siddharth, Abid Ali Khan, and Mohammad Muzammil. "Lower limb rehabilitation robotics: The current understanding and technology." Work 69, no. 3 (July 16, 2021): 775–93. http://dx.doi.org/10.3233/wor-205012.

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BACKGROUND: With the increasing rate of ambulatory disabilities and rise in the elderly population, advance methods to deliver the rehabilitation and assistive services to patients have become important. Lower limb robotic therapeutic and assistive aids have been found to improve the rehabilitation outcome. OBJECTIVE: The article aims to present the updated understanding in the field of lower limb rehabilitation robotics and identify future research avenues. METHODS: Groups of keywords relating to assistive technology, rehabilitation robotics, and lower limb were combined and searched in EMBASE, IEEE Xplore Digital Library, Scopus, Web of Science and Google Scholar database. RESULTS: Based on the literature collected from the databases we provide an overview of the understanding of robotics in rehabilitation and state of the art devices for lower limb rehabilitation. Technological advancements in rehabilitation robotic architecture (sensing, actuation and control) and biomechanical considerations in design have been discussed. Finally, a discussion on the major advances, research directions, and challenges is presented. CONCLUSIONS: Although the use of robotics has shown a promising approach to rehabilitation and reducing the burden on caregivers, extensive and innovative research is still required in both cognitive and physical human-robot interaction to achieve treatment efficacy and efficiency.

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Beker, Levent, Naoji Matsuhisa, Insang You, Sarah Rachel Arussy Ruth, Simiao Niu, Amir Foudeh, Jeffrey B. H. Tok, Xiaodong Chen, and Zhenan Bao. "A bioinspired stretchable membrane-based compliance sensor." Proceedings of the National Academy of Sciences 117, no. 21 (May 8, 2020): 11314–20. http://dx.doi.org/10.1073/pnas.1909532117.

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Compliance sensation is a unique feature of the human skin that electronic devices could not mimic via compact and thin form-factor devices. Due to the complex nature of the sensing mechanism, up to now, only high-precision or bulky handheld devices have been used to measure compliance of materials. This also prevents the development of electronic skin that is fully capable of mimicking human skin. Here, we developed a thin sensor that consists of a strain sensor coupled to a pressure sensor and is capable of identifying compliance of touched materials. The sensor can be easily integrated into robotic systems due to its small form factor. Results showed that the sensor is capable of classifying compliance of materials with high sensitivity allowing materials with various compliance to be identified. We integrated the sensor to a robotic finger to demonstrate the capability of the sensor for robotics. Further, the arrayed sensor configuration allows a compliance mapping which can enable humanlike sensations to robotic systems when grasping objects composed of multiple materials of varying compliance. These highly tunable sensors enable robotic systems to handle more advanced and complicated tasks such as classifying touched materials.

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