A5035849938- Tactile and Sensory Interactions
- Muscle activation and electromyography studies
- Robot Manipulation and Learning
- Metamaterials and Metasurfaces Applications
- Advanced Sensor and Energy Harvesting Materials
- Photonic Crystals and Applications
- Motor Control and Adaptation
- Music Technology and Sound Studies
- Balance, Gait, and Falls Prevention
- Mechanics and Biomechanics Studies
- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Teleoperation and Haptic Systems
- Advanced Antenna and Metasurface Technologies
- Personal Information Management and User Behavior
- Visual perception and processing mechanisms
- Augmented Reality Applications
- Human-Automation Interaction and Safety
- Neural and Behavioral Psychology Studies
- Advancements in Photolithography Techniques
- Virtual Reality Applications and Impacts
- Nanomaterials and Printing Technologies
- Analytical Chemistry and Sensors
- Nanofabrication and Lithography Techniques
- Liquid Crystal Research Advancements
Stanford University
2019-2025
Meta (United States)
2023
Korea University
2019-2023
A single-step printable platform for ultraviolet (UV) metasurfaces is introduced to overcome both the scarcity of low-loss UV materials and manufacturing limitations high cost low throughput. By dispersing zirconium dioxide (ZrO2) nanoparticles in a UV-curable resin, ZrO2 nanoparticle-embedded-resin (nano-PER) developed as material which has refractive index extinction coefficient from near-UV deep-UV. In nano-PER, resin enables direct pattern transfer increase composite while maintaining...
Abstract Nanoimprint lithography (NIL) has attracted attention recently as a promising fabrication method for dielectric metalenses owing to its low cost and high throughput, however, aspect ratio (HAR) nanostructures are required manipulate the full 2π phase of light. Conventional NIL using hard-polydimethylsiloxane (h-PDMS) mold inevitably incurs shear stress on which is inversely proportional surface area parallel direction detachment. Therefore, HAR structures subjected larger stresses,...
Metasurfaces consisting of artificially designed meta-atoms have been popularized recently due to their advantages amplitude and phase light control. However, the electron beam lithography method for metasurface fabrication has high cost low throughput, which results in a limitation metasurfaces. In this study, nanocomposite printing technology is used fabricate high-efficiency metasurfaces with cost. To demonstrate efficiency proposed method, metahologram fabricated using nanocomposite. The...
Soft sensors that can perceive multiaxial forces, such as normal and shear, are of interest for dexterous robotic manipulation monitoring human performance. Typical planar fabrication techniques have substantial design constraints often prohibit the creation functionally compelling complex architectures. Moreover, they require multiple-step operations production. Here, we use an additive manufacturing process based on continuous liquid interface production to create high-resolution...
We present a tactile sensor intended for manipulation by mobile robots, e.g., in the home. The surface consists of an array small, rounded bumps or “nibs,” reliable traction on objects like wet dishes. When nibs contact they deflect, and capacitive sensors measure corresponding local normal shear stresses. A feature is ability to reconfigure dynamically depending which combinations sensing elements it samples. By interrogating different can detect distinguish between linear rotational...
Our aim is to provide effective interaction with virtual objects, despite the lack of co-location and real-world contacts, while taking advantage relatively large skin area ease mounting on forearm. We performed two human participant studies determine effects haptic feedback in normal shear directions during manipulation using devices worn near wrist. In first study, participants significantly better discriminating stiffness values objects when consisted displacements compared displacements....
Imitation learning requires high-quality demonstrations consisting of sequences state-action pairs. For contact-rich dexterous manipulation tasks that require fine-grained dexterity, the actions in these pairs must produce right forces. Current widely-used methods for collecting are difficult to use demonstrating due unintuitive human-to-robot motion retargeting and lack direct haptic feedback. Motivated by this, we propose DexForce, a method manipulation. DexForce leverages contact forces,...
Abstract Background Self-selected speed is an important functional index of walking. A self-pacing controller that reliably matches walking without additional hardware can be useful for measuring self-selected in a treadmill-based laboratory. Methods We adapted previously proposed force-instrumented treadmills and validated its use speeds. first evaluated the controller’s estimation subject position from force-plates by comparing it to those motion capture data. then compared five tests...
Wearable haptic devices on the forearm can relay information from virtual agents, robots, and other humans while leaving hands free. We introduce test a new wearable device that uses soft actuators to provide normal shear force skin of forearm. A rigid housing gear motor are used control direction force. 6-axis force/torque sensor, distance pressure sensors integrated quantify how tactor interacts with skin. When worn by participants, delivered consistent forces up 0.64 N 0.56 over distances...
In a cable-driven suspension system developed to simulate the reduced gravity of lunar or Martian surfaces, we propose manipu-late/reduce physical cues forward jumps so as overcome limited workspace problem. The should be manipulated in way that discrepancy from visual provided through HMD is not noticeable by users. We identified extent which can naturally. combined it with gains, scale without being noticed test results obtained prototype application show use both trajectory manipulation...
We present an integrated pneumatic sensor and actuator for soft haptic devices that can estimate contact force, location, shape using a multi-headed neural network. The uses channels cast into multi-layer silicone bubble change flow resistance as the deforms, allowing measurements of strain external at surface. Changes in are measured pressure transducers circuit. Arranging two-layer array allows localization with accuracy over 80% locations 3×3 grid force from 0.9–4.5 N RMS error...
We present a new gripper and exploration approach that uses finger with very low reflected inertia for probing then grasping objects. The employs transparent transmission, resulting in light touch when contact occurs. elements are stiff mounted on precise Cartesian axes accurate proprioceptive sensing. Experiments show the can safely move faster into contacts than industrial parallel jaw grippers or even most force-controlled backdrivable transmissions. This property allows rapid of Contact...
When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force different directions, locations, contact areas, and durations. While previous work on touch gesture recognition has focused the spatio-temporal distribution normal forces, we hypothesize that addition shear forces will permit more reliable classification. We present a soft, flexible skin an array tri-axial tactile sensors for arm person robot. use it to...
It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable as jamming against adjacent and walls can inhibit progress. We propose the use of two action primitives -- burrowing excavating that fluidize scene un-jam obstacles enable continued Even when these are implemented an open loop manner at clock-driven intervals, we observe a decrease final distance target location. Furthermore, combine into closed hybrid control strategy using tactile...
It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable as jamming against adjacent and walls can inhibit progress.We propose the use of two action primitivesburrowing excavating-that fluidize scene unjam obstacles enable continued progress.Even when these primitives are implemented an open loop manner at clockdriven intervals, we observe a decrease final distance target location.Furthermore, combine into closed hybrid control strategy using...
Abstract Background Self-selected speed is an important functional index of walking. A self-pacing controller that reliably matches walking without additional hardware can be useful for measuring self-selected in a treadmill-based laboratory. Methods We adapted previously proposed force-instrumented treadmills and validated its use speeds. first evaluated the controller’s estimation subject position from force-plates by comparing it to those motion capture data. then compared five tests...