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Peg-in-Hole actions play an important role in industrial assembly. In this paper, we present a system which performs such actions after learning by human demonstration. Strategies for getting robust human-demonstrated PiH trajectories are investigated, and a number of PiH experiments are conducted to verify the performance of the proposed approach. The results show that our approach leads to a high...
Stretchable sensor arrays have applications in robotics, structural health monitoring (SHM) devices, and electronic textiles applications where they can be mounted directly on nonplanar surfaces. For robotics, pressure sensor arrays mimic the human sense of touch, providing sensory feedback to help the robot move in a controlled manner. Our research investigates a novel microelectronic process sequence...
This work presents the development of a reliable capacitive tactile sensing array which will be tailored as the artificial skins for a humanoid robot. The proposed capacitive sensing element include of two sensing electrodes and a common floating electrode. The sensing electrodes as well as the metal interconnect for signal scanning are implemented on the FPCB, while the floating electrode is patterned...
This work presents the development of a capacitive tactile and shear-stress sensing array which can be easily and reliably fabricated by using MEMS techniques and flexible printed circuit board (FPCB) technologies. The sensing array consists of two micromachined PDMS structures and an FPCB with sensing electrodes. Each shear sensing element comprises four capacitive sensing element arranged in 2??2...
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