Deep-water biological observation is essential for understanding marine organisms and their interactions with the environment. However, conventional optical and acoustic approaches can introduce stimuli that alter animal behavior and bias biological observations. This paper proposes a fluorescence-enhanced whisker arra...
Xiao-Chi Xie, Hao Li, Shi-Xuan Zhao et al.· 0 citations
Contact-rich manipulation depends on force sensing that is hard to infer from visual signals alone, both for collecting demonstrations and for training policies. Force-annotated data, however, remains hard to obtain at scale: real-robot collection ties every demonstration to physical hardware, physics simulators report...
Shao-Ting Peng, Li-Tian Liang, Yixuan Wang et al.· 0 citations
TacClip is a minimally encumbering wearable device for recording fingertip deformation caused by contact forces and vibrations. It can be combined with vision- or glove-based hand tracking systems that leave the fingertips uncovered and provides a measure of dynamic contact interactions, while leaving the finger pads e...
Compliant mechanisms provide compact and intrinsic structural compliance for regulating physical interactions between mechanisms and environments. However, different tasks demand distinct stiffness characteristics, often requiring task-specific optimization and redesign due to limited geometric design space and inheren...
Si-Yue Yao, Xiao-Chi Xie, Shi-Xuan Zhao et al.· 0 citations
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 0.16 N for force and 1.08 mN m for moment when the input ranges from 0-14 N and 0-5 N in normal and shear directions, respectively. CoinFT is a stack of two rigid PC...
Hojung Choi, Jun En Low, Tae Myung Huh et al.· arXiv.org· 20 citations· ⚡1
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