Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 50 for “"Tactile Sensing"”.
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Tactile sensing using elastomeric sensors
GelSight, namely, elastomeric sensor, is a novel tactile sensor to get the 3D information of contacting surfaces. Using GelSight, some tactile properties, such as softness and roughness, could be gained through image processing techniques. In this thesis, I implemented GelSight principle to …
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High-resolution tactile sensing for robotic perception
… A major challenge lies in the lack of adequate tactile sensing technologies. Robots need tactile sensing to understand the physical environment, and detect the contact states during manipulation. A recently developed high-resolution tactile sensor, GelSight, which measures detailed information …
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Automated tactile sensing for object recognition and localization
Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1986.
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Encoding and decoding of shape in tactile sensing
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.
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Skin dynamics in the tactile sensing of shape
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, February 2000.
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Role of mechanics in tactile sensing of shape
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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Vision-based proprioception and tactile sensing for soft robots
… deployment demands accurate proprioception and tactile feedback. This thesis introduces a compact, vision-based sensing framework that delivers both modalities from a single internal camera. We instantiate the approach on PneuGelSight, a pneumatically actuated finger that uses color-coded …
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An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
… better topologies for the robotic manipulator. Tactile sensors, while useful, often complicate the design due to their bulky form factor. We propose an integrated design pipeline to streamline the design and manufacturing of robotic manipulators with knitted, glovelike tactile sensors. The …
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Vision-based proprioception of a soft robotic finger with tactile sensing
… to concurrently perceive proprioception and tactile sensing. Three proprioceptive methods are implemented: dot pose tracking, lookup table, and deep learning.
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Barometer-Based Tactile Sensing: Characterization, Processing, and Applications for Dynamic Manipulation
Reliable tactile feedback is essential for robotic systems to interact effectively with their environments, especially in dynamic manipulation tasks where detecting contact onset, direction, and force is critical for control and planning. This thesis advances the development of barometer-based …
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Advancing Ubiquitous Tactile Sensing through Comprehensive Tooling for Resistive Matrix-Based Sensors
Resistive matrix-based tactile sensors offer a scalable and intuitive approach to capturing human-environment interactions, yet deploying them in real-world systems remains challenging because they must remain portable, adaptive, and long-lasting. This thesis presents the WiReSens Toolkit, an …
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Tactile sensing of shape : biomechanics of contact investigated using imaging and modeling
… the biomechanics of skin as it pertains to human tactile sense. During touch, mechanoreceptors beneath the skin surface are mechanically loaded due to physical contact of the skin with an object and respond with a series of neural impulses. This neural population response is decoded by the central …
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Spatial pressure distribution of the finger pad during tactile sensing of cylindrical shapes
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
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Flexible and stretchable tactile sensing skins using microwave transmission lines and piezoresistive rubber
… and shear. While there exists a variety of tactile skins with impressive sensitivity, resolution, and integration, they are complex, expensive to fabricate, and delicate. This thesis explores two distinct technologies for creating a sensing skin based on molded PDMS silicone rubber. The …
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Design and Integration of an Underactuated Robotic Finger with Vision-based Tactile Sensing
… precision or delicate handling. Vision-based tactile sensors, like GelSight, can mitigate these control issues by adding real-time proprioception and also provide useful high-resolution tactile information, which can enhance underactuated fingers with shape and texture perception. As such, …
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Force Feedback and Tactile Sensing for Robotic Teleoperation of Contact Rich Manipulation Tasks
… system. Additionally, we propose to add tactile sensors to observe the impact of tactile data to imitation learning models in solving fine manipulation tasks.
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Methods for hardware design, motion retargeting, system integration, and tactile sensing for teleoperated robots
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms
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Tactile Sensing System Integrated to Compliant Foot of Humanoid Robot for Contact Force Measurement
… and sensor configuration that mimics the human tactile sensory system for contact force measurement in humanoid robots. Unlike previous force sensor based approaches, the system is defined as a total and sufficient method of Ground Reaction Force (GRF) and Zero Moment Point (ZMP) measurement for …
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The integration of visual and tactile sensing for the definition of regions within a robot workcell
… enough to accurately locate an insertion hole. Tactile probes are used to accurately locate objects. However, they require a data base containing the approximate location of an object in order to be used effectively. This thesis presents the development of a robot workcell which utilizes a …
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