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Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback

Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of solutions bringing high ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Jamie Paik, Sagar Dattatray Joshi, Frédéric Henri Vaskin Giraud

Wearable fingertip haptic devices aim to deliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of F ...

2021

Regret Minimization in Stochastic Non-Convex Learning via a Proximal-Gradient Approach

Volkan Cevher, Shaul Nadav Hallak

This paper develops a methodology for regret minimization with stochastic first-order oracle feedback in online, constrained, non-smooth, non-convex problems. In this setting, the minimization of external regret is beyond reach for first-order methods, and ...

JMLR-JOURNAL MACHINE LEARNING RESEARCH2021

Load cell with adjustable stiffness based on a preloaded T-shaped flexure pivot

Simon Nessim Henein, Charles Baur, Loïc Benoît Tissot-Daguette, Michal Stanislaw Smreczak

In this paper, we present a new flexure-based load cell with adjustable stiffness designed for force sensors with extended force range and respective measuring resolution. This novel monolithic mechanism consists of a T-shaped flexure pivot combined with a ...

euspen2021

A unified framework for walking and running of bipedal robots

Ludovic Righetti, Elham Daneshmand

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

Integrated Real-Time Supervisory Management for Off-Normal-Event Handling and Feedback Control of Tokamak Plasmas

Olivier Sauter, Alessandro Pau, Federico Alberto Alfredo Felici, Cristian Galperti, Bernhard Sieglin

For long-pulse tokamaks, one of the main challenges in the control strategy is to simultaneously reach multiple control objectives and to robustly handle in real-time (RT) unexpected events [off-normal-events (ONEs)] with a limited set of actuators. We hav ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Theory of time delayed genetic oscillations with external noisy regulation

Andrew Charles Oates, Laurel Ann Rohde, Jose Negrete Jr

Video Abstract Video Abstract: Theory of time delayed genetic oscillations with external noisy regulation We present a general theory of noisy genetic oscillators with externally regulated production rate and multiplicative noise. The observables that char ...

IOP PUBLISHING LTD2021

Soft-probe-scanning electrochemical microscopy reveals electrochemical surface reactivity of E. coli biofilms

Hubert Girault, Emad Oveisi, Horst Pick, Andreas Stephan Lesch, Sorour Darvishi

Investigating and understanding dynamic biofilm growth mechanisms is challenging, often because state-of-theart optical characterization tools provide limited information. Micrometric electrochemical imaging of Escherichia coli biofilms using Soft-Probe-Sc ...

2021

Soft-probe-scanning electrochemical microscopy reveals electrochemical surface reactivity of E. coli biofilms

Hubert Girault, Emad Oveisi, Horst Pick, Andreas Stephan Lesch, Sorour Darvishi

Investigating and understanding dynamic biofilm growth mechanisms is challenging, often because state-of-the-art optical characterization tools provide limited information. Micrometric electrochemical imaging of Escherichia coli biofilms using Soft-Probe-S ...

2021

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Auke Ijspeert, Anne Daniëlle Koelewijn

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...

FRONTIERS MEDIA SA2020

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