Research
Recent Outcomes
Synchronized AMG and EMG Dataset of Lower-limb Muscle Activities in Everyday Training
D. Tang, Y. Shih, Z. Ren, J. Liao, Y. Shao
We release a synchronized lower-limb dataset featuring 16 acceleromyography sensors across four muscle clusters, four surface electromyography channels, and optical motion-capture tracking of lower-body kinematics, providing a robust multimodal foundation for analyzing muscle activity and movement mechanics.
High-Bandwidth Biomimetic Finger for Tactile-Transparent Remote Texture Sensing
S. Yang, F. Liu, Y. Shao
We assess the impact of biomimetic robotic finger designs on teleoperation by evaluating spectral characteristics of tactile feedback and the corresponding tactile transparency, under diverse material and contact conditions.
Detection and Ranging of Transient Extrinsic Contacts Based on 6D Dynamic Tactile Sensing
H. Zheng, Y. Wu, F. Liu, Y. Li, Y. Shao
We propose TECDAR, a simple yet fast and efficient method for detecting and ranging extrinsic contact of grasped objects, which enables a robot to rectify its trajectory on a millisecond scale, facilitating precise tool manipulation and enhanced perception of complex environments purely through tactile exploration and mapping.
Generative Design Strategies for Additive Manufacturing of Lattice Structures: A Review
F.Liu, Y.Shao, M.Chen
This review integrates geometry generation, performance evaluation, and optimization into a unified multi-scale workflow and highlights two complementary directions of generative design for additive manufacturing: physical model-based and data-driven methods.
TranTac: Leveraging Transient Tactile Signals for Contact-Rich Robotic Manipulation
Y. Wu, S. Hou, H. Zheng, Y. Li, W. Lu, X. Zhou, Y. Shao
We introduce a data-efficient and low-cost tactile sensing and control framework that integrates a single contact-sensitive sensor within the elastomeric tips of a robotic gripper for completing fine insertion tasks.
Distributed Contact Sensing Enabled by Vibration Propagation on Robot End-Effector
W. Tan, Y. Shao
We present a tactile sensing method that employs a single accelerometer to localize contact and estimate force across a wide surface area, enabling more delicate robotic manipulation while reducing hardware costs, system complexity, and sensing data requirements.
VibWalk: Mapping Lower-limb Haptic Experiences of Everyday Walking
Y. Shih, D. Tang, W. Hu, S. H. Yoon, Y. Shao
We propose a foot wearable system that records wideband vibration signals during everyday walking, enabling location-based mapping of haptic data related to ground materials, limb activity, and road conditions.
Wearable Electrohydraulic Actuation For Salient FullFingertip Haptic Feedback
Y.Shao*, A. ShaganShomron*, B. Javot, C.Keplinger#, K.J.Kuchenbecker#
We introduce a wearable electrohydraulic haptic system that delivers salient full-fingertip feedback via a thin inflatable chamber actuated by a soft pump. The lightweight, untethered design allows natural hand motion while producing lifelike pressure levels and skin deformation, enhancing immersion in extended reality applications.
