Abstract: Transducer systems disclosed herein include self-sensing capabilities. In particular, electrostatic transducers include a low voltage electrode and a high voltage electrode. A low voltage sensing unit is coupled with the low voltage electrode of the electrostatic transducer. The low voltage sensing unit is configured to measure a capacitance of the electrostatic transducer, from which displacement of the electrostatic transducer may be calculated. High voltage drive signals received by the high voltage electrode during actuation may be isolated from the low voltage sensing unit. The isolation may be provided by dielectric material of the electrostatic transducer, a voltage suppression component, and/or a voltage suppression module comprising a low impedance ground path. In the event of an electrical failure of the transducer, the low voltage sensing unit may be isolated from high voltages.

Abstract: A magnetic sensing approach for determining a positioning characteristic of a soft robotic actuator. A magnetic field or a change in magnetic field of a magnetic member may be measured as it undergoes concurrent displacement with a soft actuator. Additionally, an example rolling robotic wheel is illustrated. The robotic wheel may utilize magnetic sensing as described herein.

Abstract: Various embodiments of the present technology generally relate to robotics and prosthetics. More specifically, some embodiments of the present technology relate to multi-modal fingertip sensors with proximity, contact, and for localization capabilities. Various embodiments of the present technology provide for a novel multi-modal tactile sensor which comprises an infrared proximity sensor and a barometric pressure sensor embedded in an elastomer layer. Signals from both of these sensors can be fused to measure proximity (0-10 mm), contact (0N), force (0-50N) and localize impact at five spatial locations and three angles of incidence. Gaussian processes in a regression setting can be used to obtain calibrated force measurements with an R-squared value of 0.99. Supervised machine learning approaches can be used to localize the position and direction of probing with classification accuracies of 96% and 89% respectively.

Abstract: Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm.

Abstract: A force, distance and contact measurement system comprising at least one low-cost tactile sensor embedded in elastomer and retrofitted onto existing robotic grippers is provided. The sensor is simple to manufacture and easy to integrate with existing hardware. The sensor can be arranged in strips and arrays, facilitating manipulation tasks in uncertain environments. The elastomer protects the sensor, provides a rugged and low-friction surface, and allows performing force measurements.