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 42 for “"Tactile sensors"”.
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Tactile sensors based on soft polymers
… mm height. Unlike the CB/PDMS cubes, the pillar sensors were very sensitivity to shear forces and presented resistance changes of up to 10% per 0.5 mm until a deflection angle of 20°. These sensors also have the ability to determine the direction of pillar deflection, exhibiting anisotropic …
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Safe Object Manipulation Strategies Using Tactile Sensors
Tactile feedback is essential for object manipulation tasks for humans and robots, facilitating reactive control even without vision. This dissertation introduces several tactile-based methodologies to enhance the manipulation performance and safety of robotic systems. Before presenting these …
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Local Shape Estimation Using Mechanochromic Structurally-Colored Tactile Sensors
Tactile perception is increasingly used in robotics to augment the robot’s sense of its environment and the objects that it manipulates, particularly in cases where visual systems alone prove inadequate. Existing tactile sensors feel their surroundings by sensing many different types of tactile …
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Computer graphic representation of remote environments using position tactile sensors
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1981.
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Improving Data-Driven Contact Localization and Force Estimation for Barometric Tactile Sensors
Barometric tactile sensors offer a cheap, robust, and customizable means for robots to perceive the world. Central to their operation are models that extract useful information from the sensors’ raw pressure readings. In this work, I focus on improving data-driven methods for single-point contact …
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Development of a porous piezoresistive material and its applications to underwater pressure sensors and tactile sensors
… their surroundings using the array of pressure sensors in their lateral line sensory organs that can detect minute pressure differences. Similarly, by measuring pressure variations using an engineered pressure-sensor array on the surface of an UUV, this project hopes to aid UUVs in the …
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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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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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Soft, Compliant Tactile Robotic Manipulators
… we also want to incorporate high-resolution tactile sensors, which will allow soft robots to perform more tasks. One such system is the GelSight sensor, which is low-cost, effective, and high-resolution. However, the integration of these camera-based sensors into compliant manipulators is …
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Design and Manufacturing Methods for a Curved All-Around Camera-Based Tactile Sensor
In recent years, use of camera-based tactile sensors in robotics has grown in popularity as the dexterous and in-hand manipulation tasks we aim to accomplish become more difficult and as the environments a robotic hand must interact with become more complex. Past works have shown that by giving …
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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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Navigation system for a mobile robot incorporating trinocular vision for range imaging
… data obtained from ultra sound, infra red and tactile sensors, along with depth maps using trinocular vision. Robot navigation programs were written to navigate the robot and were tested in a simulated environment as well as the real world. Data from the various sensors was read and …
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Learning Structured World Models From and For Physical Interactions
… multi-modal sensing platforms with dense tactile sensors in various forms (e.g., gloves, socks, vests, and robot sleeves) and how they can lead to more structured and physically grounded models of the world. This dissertation consists of three parts. In Part I, we show how we can learn …
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Large area electro-optical tactile sensor:Characterization and design of a polymer, nanoparticle based tunneling device
Touch (or tactile) sensors are gaining renewed interest as the level of sophistication in the application of minimally invasive surgery and humanoid robots increases. The spatial resolution of current large-area tactile sensors (greater than 1 cm2) lag human fingers by over an order of magnitude. …
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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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Automatic, Careful Online Packing of Groceries Using a Soft Robotic Manipulator and Multimodal Sensing
… of vision, motor-based proprioception and soft tactile sensors to identify and pack a stream of unknown objects. We translate the ill-defined human conception of a “well-packed container” into metrics that match combinations of our different sensor modalities and demonstrate how this works in a …
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Sensor technology for the Breast Examination Training Instrument
… instrument consists of a silicone breast model, tactile sensors and serial communication capability. Software was developed for a generic PC that supports an integrated system including: (1) an interactive video demonstrating BSE techniques, (2) a practical examination using the instrumented …
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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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Multi-sensor (IR) data fusion for mobile robot navigation using occupancy grid method.
… an unstructured environment. Different types of sensors have been provided to gather information about the environment: infrared (IR) range finders, vision, tactile, position. While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the …
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Design, Fabrication, and Analysis of Polymer-Based Microelectromechanical Systems
… realize polymer-based MEMS. Polymer multimodal tactile sensing skins modeled on the human sensory skin, polymer cilia based tactile and flow sensors modeled on arthropod hair sensilla, as well as all-polymer tactile sensors and input devices based on conductive elastomers are presented. In order …
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