Research Projects

• A robotic skin designed with multimodal sensing modeuls (MSMs) and multilayered fabric to have two complementary transducing mechanisms.

• The complement sensibilites improve classifying 10 touch types.

• The MSM integrates two types of transducer and can easily made on rigid surfaces with its vented screw, simplifying a fabrication.

• The multilayered fabric is light and flexible to easily conform on three-dimensional surfaces.

• The skin fabricated on a robotic arm to demonstrate physical human-robot interaction by reacting differently to various touches.

Related publications : [ICRA 2023] [TRo 41]

• A skin-inspired multi-layer structure is fabricated with silicone elastomer and ionic hydrogel to transmit alternating electric currents and vibrations in response to touch.

• Tomographic imaging methods are utilised to reconstruct a multi-modal tactile image from measurement data.

• The skin can be repaired even after severe damage, such as an incision, using chitosan topohesive and silicone adhesive.

• A sensorised prosthesis is made as a proof-of-concept.

Related publication : [Sci. Ro. 7.67]

• Microphones are sparsely distributed beneath a textured fabric to collect vibrations elicited by a dynamic touch.

• Collected vibrations are processed with an analytical decay model to localise a touch and achieve a super-resolution.

• Spatiotemporal properties of signals are analysed with CNN to classify touch types (pat, rub, etc.).

• The skin is made on a large cylindrical surface and robotic arm to demonstrate scalability and physical human-robot interaction application.

Related publications : [ICRA 2021] [TMech 29.4]

• sMEG is used for various recognition tasks in human-machine interfaces by its early detection compared to physical sensors.

• Different forms of sEMG and signal processing methods are implemented depending on the subject and target application.

• For assistance in a healthy subject, single-channel electrodes are attached to multiple muscles to recognise gait environment and motion intention.

• For hand motion rehabilitation in stroke patients, high-density electrodes are used to detect an intention in binary classes from poor signal quality.

Related publications : [FITEE 2019] [ICORR 2022] [EMBC 2023]