IEEE Transactions on Robotics最新文献_第7页

Design, Control, and Evaluation of a Novel Soft Everting Robot for Colonoscopy 一种新型软式结肠镜检查机器人的设计、控制与评价

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-04 DOI: 10.1109/TRO.2025.3595696

Jialei Shi;Korn Borvorntanajanya;Kaiwen Chen;Enrico Franco;Ferdinando Rodriguez y Baena

{"title":"Design, Control, and Evaluation of a Novel Soft Everting Robot for Colonoscopy","authors":"Jialei Shi;Korn Borvorntanajanya;Kaiwen Chen;Enrico Franco;Ferdinando Rodriguez y Baena","doi":"10.1109/TRO.2025.3595696","DOIUrl":"10.1109/TRO.2025.3595696","url":null,"abstract":"Colonoscopy is a medical procedure used to examine the inside of the colon for abnormalities, such as polyps or cancer. Traditionally, this is done by manually inserting a long, flexible tube called a colonoscope into the colon. However, this method can cause pain, discomfort, and even the risk of perforation. To address these shortcomings, advancements in technology are needed to develop safer, more intelligent colonoscopes. This article presents the design, control, and evaluation of a self-growing soft robotic colonoscope, leveraging the evertion principle. The device features a tube with an 18 mm diameter, constructed from stretchable fabric, which grows 1.6 m at the tip under pressurization. A pneumatically driven, elastomer-based manipulator enables omni-directional steering over 180° at the tip. An airtight base houses motors and spools that control the material and regulate growth speed. The robot operates in two modes: teleoperation via joysticks and autonomous navigation using sensor inputs, such as a tip-mounted camera. Thorough in-vitro experiments are conducted to assess the system’s functionality and performance. Results illustrate that the robot can achieve locomotion in confined spaces such as a colon phantom, while exerting contact forces averaging less than 0.3 N. Our soft robot shows potential for improving the safety and autonomy of colonoscopies, while reducing discomfort to patients.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4843-4859"},"PeriodicalIF":10.5,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144778410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control 基于结构的序列二次规划模型预测控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-04 DOI: 10.1109/TRO.2025.3595674

Armand Jordana;Sébastien Kleff;Avadesh Meduri;Justin Carpentier;Nicolas Mansard;Ludovic Righetti

{"title":"Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control","authors":"Armand Jordana;Sébastien Kleff;Avadesh Meduri;Justin Carpentier;Nicolas Mansard;Ludovic Righetti","doi":"10.1109/TRO.2025.3595674","DOIUrl":"10.1109/TRO.2025.3595674","url":null,"abstract":"The promise of model-predictive control (MPC) in robotics has led to extensive development of efficient numerical optimal control solvers in line with differential dynamic programming because it exploits the sparsity induced by time. In this work, we argue that this effervescence has hidden the fact that sparsity can be equally exploited by standard nonlinear optimization. In particular, we show how a tailored implementation of sequential quadratic programming (QP) achieves state-of-the-art MPC. Then, we clarify the connections between popular algorithms from the robotics community and well-established optimization techniques. Further, the sequential quadratic program formulation naturally encompasses the constrained case, a notoriously difficult problem in the robotics community. Specifically, we show that it only requires a sparsity-exploiting implementation of a state-of-the-art QP solver. We illustrate the validity of this approach in a comparative study and experiments on a torque-controlled manipulator. To the best of our knowledge, this is the first demonstration of closed loop nonlinear MPC with constraints on a real robot.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4960-4974"},"PeriodicalIF":10.5,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144778409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke 在线适应框架使受中风影响的患者运动期间外骨骼辅助个性化

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-04 DOI: 10.1109/TRO.2025.3595701

Inseung Kang;Dean D. Molinaro;Dongho Park;Dawit Lee;Pratik Kunapuli;Kinsey R. Herrin;Aaron J. Young

{"title":"Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke","authors":"Inseung Kang;Dean D. Molinaro;Dongho Park;Dawit Lee;Pratik Kunapuli;Kinsey R. Herrin;Aaron J. Young","doi":"10.1109/TRO.2025.3595701","DOIUrl":"10.1109/TRO.2025.3595701","url":null,"abstract":"Robotic exoskeletons can transform mobility for individuals with lower limb disabilities. However, their widespread adoption is limited by controller degradation caused by varying gait dynamics across different users and environments. Here, we propose an online adaptation framework that leverages real-time data streams to continuously update the user state estimator model. This approach allows the exoskeleton to learn the user-specific gait patterns, effectively customizing the model for each new user. In addition, we demonstrate a sensor signal transformation technique that enables model transfer across different exoskeleton hardware (from a research-grade exoskeleton to a commercial device). With less than one minute of adaptation, our framework improved gait phase estimation, which directly affects assistance timing, by 40.9% for able-bodied subjects and 65.9% for stroke survivors (<inline-formula><tex-math>$p$</tex-math></inline-formula> <inline-formula><tex-math>$< $</tex-math></inline-formula> 0.05), and reduced torque profile error by 32.7% compared to the baseline model (<inline-formula><tex-math>$p$</tex-math></inline-formula> <inline-formula><tex-math>$< $</tex-math></inline-formula> 0.05). Furthermore, in a pilot test, we applied our adaptation framework with human-in-the-loop optimization for control tuning. In a single stroke survivor, this approach led to a 21.8% increase in walking speed and a 6.5% reduction in metabolic cost compared to walking without exoskeleton. While preliminary, these results suggest the potential for personalized exoskeleton assistance in clinical populations.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4941-4959"},"PeriodicalIF":10.5,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144778413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Continuous-Time State Estimation Methods in Robotics: A Survey 机器人中的连续时间状态估计方法综述

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-07-28 DOI: 10.1109/TRO.2025.3593079

William Talbot;Julian Nubert;Turcan Tuna;Cesar Cadena;Frederike Dümbgen;Jesús Tordesillas;Timothy D. Barfoot;Marco Hutter

{"title":"Continuous-Time State Estimation Methods in Robotics: A Survey","authors":"William Talbot;Julian Nubert;Turcan Tuna;Cesar Cadena;Frederike Dümbgen;Jesús Tordesillas;Timothy D. Barfoot;Marco Hutter","doi":"10.1109/TRO.2025.3593079","DOIUrl":"10.1109/TRO.2025.3593079","url":null,"abstract":"Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters and smoothers have been the dominant approach, in which the estimated variables are states at discrete sample times. The paradigm of continuous-time state estimation proposes an alternative strategy by estimating variables that express the state as a continuous function of time, which can be evaluated at any query time. Not only can this benefit downstream tasks such as planning and control, but it also significantly increases estimator performance and flexibility, as well as reduces sensor preprocessing and interfacing complexity. Despite this, continuous-time methods remain underutilized, potentially because they are less well-known within robotics. To remedy this, this work presents a unifying formulation of these methods and the most exhaustive literature review to date, systematically categorizing prior work by methodology, application, state variables, historical context, and theoretical contribution to the field. By surveying splines and Gaussian process together and contextualizing works from other research domains, this work identifies and analyzes open problems in continuous-time state estimation and suggests new research directions.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4975-4999"},"PeriodicalIF":10.5,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144747500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Motion Planning Diffusion: Learning and Adapting Robot Motion Planning With Diffusion Models 运动规划扩散：用扩散模型学习和适应机器人运动规划

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-07-28 DOI: 10.1109/TRO.2025.3593109

João Carvalho;An Thai Le;Piotr Kicki;Dorothea Koert;Jan Peters

{"title":"Motion Planning Diffusion: Learning and Adapting Robot Motion Planning With Diffusion Models","authors":"João Carvalho;An Thai Le;Piotr Kicki;Dorothea Koert;Jan Peters","doi":"10.1109/TRO.2025.3593109","DOIUrl":"10.1109/TRO.2025.3593109","url":null,"abstract":"The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow in high-dimensional and complex scenes and produce nonsmooth solutions. Given previously solved path-planning problems, it is highly desirable to learn their distribution and use it as a prior for new similar problems. Several works propose utilizing this prior to bootstrap the motion planning problem, either by sampling initial solutions from it, or using its distribution in a maximum-a-posterior formulation for trajectory optimization. In this work, we introduce motion planning diffusion (MPD), an algorithm that learns trajectory distribution priors with diffusion models. These generative models have shown increasing success in encoding multimodal data and have desirable properties for gradient-based motion planning, such as cost guidance. Given a motion planning problem, we construct a cost function and sample from the posterior distribution using the learned prior combined with the cost function gradients during the denoising process. Instead of learning the prior on all trajectory waypoints, we propose learning a lower dimensional representation of a trajectory using linear motion primitives, particularly B-spline curves. This parametrization guarantees that the generated trajectory is smooth, can be interpolated at higher frequencies, and needs fewer parameters than a dense waypoint representation. We demonstrate the results of our method ranging from simple 2-D to more complex tasks using a 7-DOF robot arm manipulator. In addition to learning from simulated data, we also use human demonstrations on a real-world pick-and-place task. The experiment results show that diffusion models are strong priors for encoding multimodal trajectory distributions for optimization-based motion planning.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4881-4901"},"PeriodicalIF":10.5,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144737081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops 带运动环系统递归正激动力学的传播观点

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-07-28 DOI: 10.1109/TRO.2025.3593081

Matthew Chignoli;Nicholas Adrian;Sangbae Kim;Patrick M. Wensing

{"title":"A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops","authors":"Matthew Chignoli;Nicholas Adrian;Sangbae Kim;Patrick M. Wensing","doi":"10.1109/TRO.2025.3593081","DOIUrl":"10.1109/TRO.2025.3593081","url":null,"abstract":"We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider the local loop constraints emerging from common actuation submechanisms in modern robotics systems (e.g., geared motors, differential drives, and four-bar mechanisms). As a complementary perspective to prior work on constraint embedding, we present an analysis that generalizes the traditional concepts of joint models and motion/force subspaces between individual rigid bodies to generalized joint models and motion/force subspaces between groups of rigid bodies subject to loop constraints. We then use these generalized concepts to derive the constraint-embedded recursive forward dynamics algorithm using multihandle articulated bodies. We demonstrate the broad applicability of the generalized joint concepts by showing how they also lead to the constraint-embedding-based recursive algorithm for inverse dynamics. Lastly, we benchmark our open-source implementation in <monospace>C++</monospace> for the forward dynamics algorithm against state-of-the-art, sparsity-exploiting algorithms. Our alternative derivation is intended to make the constraint-embedding methodology more accessible to the broader robotics community, while the benchmarking study clarifies the relative strengths and limitations of constraint embedding versus sparsity-exploiting methods. Indeed, our benchmarking validates that constraint embedding outperforms the nonrecursive alternative in cases involving local kinematic loops.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5584-5603"},"PeriodicalIF":10.5,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144737079","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Probabilistic Approach to Feedback Control Enhances Multilegged Locomotion on Rugged Landscapes 概率反馈控制方法增强了崎岖地形上的多足运动

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-07-28 DOI: 10.1109/TRO.2025.3593133

Juntao He;Baxi Chong;Jianfeng Lin;Zhaochen Xu;Hosain Bagheri;Esteban Flores;Daniel I. Goldman

{"title":"Probabilistic Approach to Feedback Control Enhances Multilegged Locomotion on Rugged Landscapes","authors":"Juntao He;Baxi Chong;Jianfeng Lin;Zhaochen Xu;Hosain Bagheri;Esteban Flores;Daniel I. Goldman","doi":"10.1109/TRO.2025.3593133","DOIUrl":"10.1109/TRO.2025.3593133","url":null,"abstract":"Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot–environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely heavily on sensors for stability due to low static stability from a high center of mass and a narrow base of support (Ijspeert and Daley, 2023).We hypothesize that a multilegged robotic system can leverage morphological redundancy from additional legs to minimize sensing requirements when traversing challenging terrains. Studies suggest (Chong et al., 2023), (Chong et al., 2023) that a multilegged system with sufficient legs can reliably navigate noisy landscapes without sensing and control, albeit at a low speed of up to 0.1 body lengths per cycle (BLC). However, the feedback control framework to enhance speed of multilegged robots on challenging terrains remains underexplored due to diverse environmental interactions. Such complexity makes it difficult to identify the key parameters to control in these high-degree-of-freedom systems. Here, using laboratory and field experiments, we demonstrate that a vertical body undulation wave helps mitigate environmental disturbances that affect robot speed. These findings are supported by probabilistic models. Using such insights, we introduce a control framework, which monitors foot–ground contact patterns on rugose landscapes using binary foot–ground contact sensors to estimate terrain rugosity. The controller adjusts the vertical body wave based on the deviation of the limb’s averaged actual-to-ideal foot–ground contact ratio, achieving a significant enhancement of up to 0.235 BLC on rugose laboratory terrain. We observed a 50% to 60% increase in speed and a 30% to 50% reduction in speed variance compared to the open-loop controller. In addition, the controller operates in complex terrains outside the lab, including pine straw, robot-sized rocks, mud, and leaves.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4776-4793"},"PeriodicalIF":10.5,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144747501","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fourigami: A 4-Degree-of-Freedom, Force-Controlled, Origami, Finger Pad Haptic Device Fourigami：一个四自由度，力控制，折纸，手指垫触觉设备

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-07-28 DOI: 10.1109/TRO.2025.3593084

Crystal E. Winston;Hojung Choi;Rianna Jitosho;Zhenishbek Zhakypov;Jasmin E. Palmer;Mark R. Cutkosky;Allison M. Okamura

{"title":"Fourigami: A 4-Degree-of-Freedom, Force-Controlled, Origami, Finger Pad Haptic Device","authors":"Crystal E. Winston;Hojung Choi;Rianna Jitosho;Zhenishbek Zhakypov;Jasmin E. Palmer;Mark R. Cutkosky;Allison M. Okamura","doi":"10.1109/TRO.2025.3593084","DOIUrl":"10.1109/TRO.2025.3593084","url":null,"abstract":"Skin deformation haptic devices worn on the finger pad provide realistic touch feedback during interactions with virtual objects. Two primary challenges in creating such devices are: first, making a multidegree-of-freedom device (DoF) that is small and lightweight so it does not encumber the wearer and second, providing accurate control of forces displayed to the finger pad. This work presents a 4-DoF finger pad haptic device, called Fourigami, that addresses these challenges. We address the first challenge using origami manufacturing methods and pneumatic actuation to fabricate a 25 g prototype that displays normal, shear, and twist and can be easily worn on the finger pad. We address the second challenge using a low-profile, 6-DoF, force/torque sensor to control forces displayed to the finger. Fourigami has a bandwidth ranging from 2 to 4 Hz depending on direction, and when acting on a human finger, it exerts forces ranging from <inline-formula><tex-math>$pm$</tex-math></inline-formula> 1.0 N in shear, 4.2 N in normal, and <inline-formula><tex-math>$pm$</tex-math></inline-formula> 4.2 N <inline-formula><tex-math>$cdot$</tex-math></inline-formula> mm of twist. Finally, we demonstrate the device’s efficacy when rendering haptic feedback to a user tracking a sinusoidal trajectory and a trajectory representing interactions with a virtual object.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4829-4842"},"PeriodicalIF":10.5,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144736804","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Real-Time LSTM-Driven Dynamic Gait Mode Detection for Enhanced Control of Actuated Ankle-Foot Orthosis 基于lstm驱动的实时动态步态模式检测增强控制的足踝矫形器

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-07-28 DOI: 10.1109/TRO.2025.3593111

Huiseok Moon;Oussama Bey;Abderrahmane Boubezoul;Latifa Oukhellou;Samer Mohammed

{"title":"Real-Time LSTM-Driven Dynamic Gait Mode Detection for Enhanced Control of Actuated Ankle-Foot Orthosis","authors":"Huiseok Moon;Oussama Bey;Abderrahmane Boubezoul;Latifa Oukhellou;Samer Mohammed","doi":"10.1109/TRO.2025.3593111","DOIUrl":"10.1109/TRO.2025.3593111","url":null,"abstract":"The implementation of real-time gait mode detection is paramount for providing tailored support to individuals utilizing actuated ankle-foot orthoses (AAFOs), enhancing their walking and mobility. However, existing systems often rely on multiple sensors and struggle with accurate and prompt detection of gait transitions, especially in varied environments. This study develops a novel real-time gait mode detection system that accurately identifies five daily living gait modes including level walking, ramp ascent and descent, and stair ascent and descent using only two foot-mounted inertial measurement units. A long short-term memory based algorithm, trained on data from ten healthy subjects, extracts six kinematic features to predict gait modes. The proposed method integrates this detection system with a taskoriented control strategy to adapt AAFO control according to identified gait modes. Real-time experiments with three healthy participants demonstrated robust gait mode detection, achieving an average accuracy of <inline-formula><tex-math>$98 pm 1$</tex-math></inline-formula>% across the five modes, even under assistive torque. In trials mimicking abnormal gait, the system maintained an accuracy of <inline-formula><tex-math>$93 pm 3$</tex-math></inline-formula>%. Additionally, transition delays were analyzed, showing detection can occur between transitions of the leading and trailing foot. The control strategy reduced dorsiflexor and plantar-flexor muscle activation, measured by electromyography, and improved swing phase tracking performance. Detection robustness was further evaluated by walking with obstacles and changes in environmental dimensions.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"4794-4809"},"PeriodicalIF":10.5,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144737077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Vision-Based Proximity and Tactile Sensing for Robot Arms: Design, Perception, and Control 基于视觉的机械臂接近和触觉传感：设计、感知和控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-07-28 DOI: 10.1109/TRO.2025.3593087

Quan Khanh Luu;Dinh Quang Nguyen;Nhan Huu Nguyen;Nam Phuong Dam;Van Anh Ho

{"title":"Vision-Based Proximity and Tactile Sensing for Robot Arms: Design, Perception, and Control","authors":"Quan Khanh Luu;Dinh Quang Nguyen;Nhan Huu Nguyen;Nam Phuong Dam;Van Anh Ho","doi":"10.1109/TRO.2025.3593087","DOIUrl":"10.1109/TRO.2025.3593087","url":null,"abstract":"Soft-bodied robots with multimodal sensing capabilities hold promise for versatile and user-friendly robotics. However, seamlessly integrating multiple sensing functionalities into soft artificial skins remains a challenge due to compatibility issues between soft materials and conventional electronics. While vision-based tactile sensing has enabled simple and effective sensor designs for robotic touch, there has been limited exploration of this technique for intrinsic multimodal sensing in large-sized soft robot bodies. To address this gap, this article introduces a novel vision-based soft sensing technique, named ProTac, capable of operating either in tactile or proximity sensing modes. This vision-based sensing technology relies on a soft functional skin that can actively switch its optical properties between opaque and transparent states. Furthermore, this article develops efficient learning pipelines for proximity and tactile perceptions, as well as sensing strategies enabled through the timing activation of the two sensing modes. The effectiveness of the soft sensing technology is demonstrated through a soft ProTac link, which can be integrated into newly constructed or existing commercial robot arms. Results suggest that robots integrated with the ProTac link, along with rigorous control formulation can perform safe and purposeful control actions, which enhances human–robot interaction scenarios and facilitates motion control tasks that are challenging to achieve with conventional rigid links.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5000-5019"},"PeriodicalIF":10.5,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11097357","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144736801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0