Applications In Manipulation Research Articles

On-Site Implementation of External Wrench Measurement via Non-Linear Optimization in Six-Axis Force–Torque Sensor Calibration and Crosstalk Compensation

This study introduces a novel calibration method for accurate external wrench measurement using a six-axis FT (force–torque) sensor. We propose a sensor model and calibration method for FT sensors that enable precise separation of the force and torque components without the need for additional devices or sensors by estimating essential parameters: bias, crosstalk, CoM (center of mass), and inclination. By directly utilizing manufacturer-provided data, our approach eliminates the complexities of traditional calibration processes while achieving higher accuracy in force–torque measurements. This method simplifies the calibration workflow and enhances the practicality of FT sensor applications. A mobile manipulator installed with an FT sensor and a gripper is used to demonstrate calibration effectiveness across varying postures and incline conditions, with non-linear optimization based on the gradient descent method applied to minimize sensor-data errors. The tilt of the base is implemented by placing a step under the wheels of the mobile base to simulate roll or pitch scenarios. A digital level was used to measure the angle and verify that our predicted results were accurate. The proposed method addresses typical calibration challenges, including the effects of the end tool and base incline, which are not commonly covered in existing methods. The results show that, on a non-inclined base, crosstalk and CoM calibration reduces the MSE (mean squared error) by 55.8%, 56.2%, and 14.5% for the external force with respect to data without any calibration conducted. On an inclined base, our full calibration process reduces the MSE by a maximum of 98.6% for external mass measurement with respect to no calibration method applied. These findings highlight the importance of incline calibration for achieving accurate external force estimations, especially in mobile manipulator applications where the environment frequently changes.

Generating optical angular momentum through wavefront curvature

Recent developments in the understanding of optical angular momentum have resulted in many demonstrations of unusual optical phenomena, such as optical beams with orbital angular momentum and transverse spinning light. Here, we detail novel contributions to spin and orbital angular momentum generated by the wavefront curvature that becomes relevant in strongly focused beams of light. While circularly polarized beams are shown to develop helicity-dependent transverse spin, a linearly polarized Gaussian beam produces longitudinal spin and orbital angular momentum in the focal region, even if lacking both of these before focusing. An analytical treatment of a nonparaxial electromagnetic field, validated with vectorial diffraction modeling, shows that the terms related to higher orders of a paraxial parameter are responsible for the appearance of non-trivial angular momenta. The obtained dependences relate these quantities to the wavefront curvature, showing how it can be used as a novel degree of freedom for applications in optical manipulation and light–matter interactions at subwavelength scales, enabling angular momentum transfer even from a simple Gaussian beam with linear polarization.

Vision-language model-based human-robot collaboration for smart manufacturing: A state-of-the-art survey

Abstract human-robot collaboration (HRC) is set to transform the manufacturing paradigm by leveraging the strengths of human flexibility and robot precision. The recent breakthrough of Large Language Models (LLMs) and Vision-Language Models (VLMs) has motivated the preliminary explorations and adoptions of these models in the smart manufacturing field. However, despite the considerable amount of effort, existing research mainly focused on individual components without a comprehensive perspective to address the full potential of VLMs, especially for HRC in smart manufacturing scenarios. To fill the gap, this work offers a systematic review of the latest advancements and applications of VLMs in HRC for smart manufacturing, which covers the fundamental architectures and pretraining methodologies of LLMs and VLMs, their applications in robotic task planning, navigation, and manipulation, and role in enhancing human–robot skill transfer through multimodal data integration. Lastly, the paper discusses current limitations and future research directions in VLM-based HRC, highlighting the trend in fully realizing the potential of these technologies for smart manufacturing.

Biomimetic artificial cilia with three-dimensional motion driven by magnetic fields

Abstract Inspired by natural cilia, we developed magnetically actuated artificial cilia capable of controlled three-dimensional motion. The key innovation lies in concentrating hard magnetic particles at the tip of a silicon pillar, enabling asymmetric effective and recovery strokes under a constant rotational magnetic field. By magnetizing the pillar at 45° to the ground, we achieved complex three-dimensional movements that closely mimic biological ciliary motion. Our developed simulation system reproduced individual pillar trajectories in static conditions, showing consistency with experimental results in the range without snapping, a phenomenon characterized by the sudden release of twist-induced stress. Furthermore, we demonstrated metachronal wave-like motion in pillar arrays. These arrays exhibited both transport capabilities, successfully moving a 10 mg object, and locomotion functions. The combination of precise motion control, predictive modeling, and demonstrated functionality suggests promising applications in microfluidic manipulation and biomedical devices.

Tri-Prism Origami Enabled Soft Modular Actuator for Reconfigurable Robots.

Soft actuators hold great potential for applications in surgical operations, robotic manipulation, and prosthetic devices. However, they are limited by their structures, materials, and actuation methods, resulting in disadvantages in output force and dynamic response. This article introduces a soft pneumatic actuator capable of bending based on triangular prism origami. The origami creases are crafted by utilizing fabrics to gain swift response and fatigue-resistant properties. By connecting two actuators in series, combined motions including extension and diversified compound bending can be achieved, facilitating control in complex scenarios. After modularizing the soft actuator via mortise and tenon structures, several actuators can be programmed to execute a variety of intricate tasks by adjusting the timing sequences of their contraction and expansion. We showcase its applications in reconfigurable robots, and the results confirm that such a design is adequate for flexibly performing tasks such as soft gripping, navigational movement, and obstacle avoidance. These findings highlight the significance of our actuator in developing soft robots for versatile tasks.

Investigation Of The Effects Of STEAM- Based Art Education On The Photography and Photo- Manipulation Works Of Gifted Students

The aim of the research is to reveal the effect of STEAM-based art teaching on photography education given to secondary school students and students' photo-manipulation studies. In line with this purpose, it was aimed to use manipulation in education in a positive way with the manipulation applications that the students made on the photographs they took at the end of the activities made more comprehensive with the STEAM approach. The problem of the research was determined as ‘What is the effect of STEAM-based art teaching on gifted students’ photography and photo-manipulation studies?’. In this context, the research was planned as a qualitative study and was designed as a quasi-experimental study. The data obtained in the research were analysed by content analysis method. During the implementation process of the research, it is noteworthy that the students actively participated in the lesson, successfully completed the activities and performed above the expectations of the researcher. In the findings related to the research questions, students' motivations towards the course, their interests and perspectives towards photography, their thoughts on the process of creating photo-manipulation, and their opinions on the course process and participants were reached. As a result of the research, it was seen that the students' awareness of photography and photo-manipulation increased, they started to put the education they received into practice and started to use it in real life, each student mentioned at least one photo editing programme, and all of the students stated that they used the photoshop programme. Considering the results of expert opinion, it was concluded that the students showed a positive development from the 1st activity to the 3rd activity in photography and photo-manipulation studies. Considering the results obtained from the student interview form findings, it was observed that there were students who stated that the students improved themselves, contributed to their general culture and gained a different perspective. In this direction, it was concluded that the education they received fulfilled its objectives.

Fast adaptive unknown input observer for fault and attack estimations in nonlinear systems: an enhanced LMI approach

This paper deals with the problem of robust fault estimation for the Lipschitz nonlinear systems under the influence of sensor faults and actuator faults. In the proposed methodology, a descriptor system is formulated by augmenting sensor fault vectors with the states of the system. A novel fast adaptive unknown input observer (FAUIO) structure is proposed for the simultaneous estimation of both faults and states of a class of nonlinear systems. A new LMI condition is established by utilising the H ∞ criterion to ensure the asymptotic convergence of the estimation error of the developed observer. This derived LMI condition is deduced by incorporating the reformulated Lipschitz property, a new variant of Young inequality, and the well-known linear parameter varying (LPV) approach. It is less conservative than the existing ones in the literature, and its effectiveness is compared with the other proposed approaches. Further, the proposed observer methodology is extended for the disturbance-affected nonlinear system for the purpose of the reconstruction of states and faults/attacks with optimal noise attenuation. Later on, both designed approaches are validated through an application of a single-link robotic arm manipulator in MATLAB Simulink.

Enhanced dual-mode terahertz absorption in a graphene-dielectric metasurface by quasi-bound states in the continuum

A graphene-dielectric metasurface driven by quasi-bound states in the continuum (BICs) is proposed for enhanced dual-mode absorption in the terahertz (THz) regime. The graphene-dielectric metasurface is composed of a periodic array of cross-shaped slabs and monolayer graphene. By introducing symmetry perturbation for the cross-shaped slab metasurface, the symmetry-protected BICs transform into quasi-BICs. Subsequently, monolayer graphene is introduced to the cross-shaped slab metasurface to demonstrate the potential of the enhanced dual-mode THz absorption. When the system reaches the critical coupling, each quasi-BIC can achieve the theoretical maximum absorption, with the Q-factor reaching 9033 and 2432, highlighting the unique capacity for tuning and efficient light absorption. This work provides a valuable approach for applications in absorption and manipulation of THz waves.

Creation of a stable vector vortex beam with dual fractional orbital angular momentum

Recently, vortex beams have been widely studied and applied because they carry orbital angular momentum (OAM). It is widely acknowledged in the scientific community that fractional OAM does not typically exhibit stable propagation; notably, the notion of achieving stable propagation with dual-fractional OAM within a single optical vortex has been deemed impracticable. Here, we address the scientific problem through the combined modulation of phase and polarization, resulting in the generation of a dual-fractional OAM vector vortex beam that can stably exist in free space. Applying this unique characteristic, we derive an integrated analytical model to calculate the focused electromagnetic fields and Poynting vector distributions based on Debye vector diffraction integral. Utilizing phase stitching technology, this research combines two fractional topological charges to investigate the properties of dual-fractional OAM optical vortices with diverse polarization conditions. Furthermore, the transmission characteristics of these optical vortices are meticulously analyzed. This work not only enriches the types of vortex beams but also provides a novel optical tool, potentially transformative for applications in optical communications, optical manipulation, and optical imaging.

Synergistic binding ability of electrostatic tweezers and femtosecond laser-structured slippery surfaces enabling unusual droplet manipulation applications.

We propose a novel contactless droplet manipulation strategy that combines electrostatic tweezers (ESTs) with lubricated slippery surfaces. Electrostatic induction causes the droplet to experience an electrostatic force, allowing it to move with the horizontal shift of the EST. Because both the EST and the slippery operating platform prepared by a femtosecond laser exhibit a strong binding effect on droplets, the EST droplet manipulation features significant flexibility, high precision, and can work under various operating conditions. The EST can manipulate droplets with a wide volume range (500 nL-1 mL), droplets hanging on tilted or even inverted surfaces, multiple droplets in parallel, corrosive droplets, low-surface-tension organic droplets (e.g., ethanol), and even droplets in a sealed space from the outside. The EST operation method is suitable for various slippery substrates prepared by femtosecond laser processing and can also be used to manipulate small solid spheres other than liquids. Additionally, a self-powered EST system is also designed without the need for high-voltage static electricity, allowing even fingers to serve as EST sources for droplet manipulation. The flexible and precise manipulation performance allows this technology to be applied in a variety of applications. For example, a new digital microfluidic (DMF) technology based on an EST array has been successfully validated and is expected to replace traditional electrowetting-on-dielectric technology in the future.

Superaerophobic polymer objects prototyped via liquid crystal display (LCD)-based 3D printing: one-step post-surface-treatment and application in underwater bubble manipulation

ABSTRACT Underwater superaerophobic surface is of great significance for controllable manipulation of gas bubbles in scientific research and practical applications. However, the fabrication of arbitrary-shaped superaerophobic solid surfaces through a simple and low-cost approach is still hard. Herein, superaerophobic 3D objects were manufactured via liquid crystal display (LCD)-based 3D printing (vat photopolymerisation-based additive manufacturing) combined with one-step post-surface-treatment in sodium hydroxide (NaOH) solution. The influences of NaOH concentration, reaction temperature and time on the wettability of the polymer surface were systematically investigated. After a suitable alkali-treatment, the object surface obtained a bubble contact angle of 159° with extremely low bubble adhesion, featuring the underwater superaerophobicity. Morphology and composition characterisation demonstrated that a hydrophilic gel layer was produced on the printed sheet after the alkali-treatment, which is explained as the main mechanism of the superwetting transition from aerophobicity to superaerophobicity. Interestingly, spontaneously formed surface microgrids (size in xy direction: ∼50 μm) during 3D printing accelerated the alkali-treatment. Further, a superaerophobic 3D tweezer was designed, fabricated, and successfully applied in a toxic nitric oxide (NO) bubble reaction underwater for gas purity detection. The one-step post-surface-treatment method is also suitable for other commercial photosensitive resins and digital-light-processing (DLP) 3D printing.

Rasch model analysis: Evaluating students' spatial thinking ability in higher-order thinking skills trigonometric comparison assessment (HOTS-TCA)

This study addresses the critical issue of insufficient spatial thinking abilities among students, which significantly affects their performance in higher-order thinking skills (HOTS) tasks, particularly in trigonometry. Focusing on 11th-grade students in Tanjungpinang, Indonesia, the research investigates how spatial thinking influences the ability to solve trigonometric comparison problems. Employing a mixed-method approach, the study integrates quantitative data from the Higher-Order Thinking Skills in Trigonometric Comparisons Assessment (HOTS-TCA) with qualitative insights from post-test interviews. Rasch Model Analysis evaluates the quality of an assessment instrument by providing measures of respondent abilities and item difficulties, fit statistics to ensure model alignment, reliability, and separation indices for consistency, a Wright Map for visualizing the relationship between skills and difficulties, and checks for unidimensionality and potential item bias to ensure fairness and validity. The Rasch analysis further confirms the reliability and validity of the HOTS-TCA instrument, highlighting its effectiveness in measuring spatial thinking across varying ability levels. The study finds that students with high spatial ability excel in visualizing geometric relationships but struggle with complex three-dimensional tasks. In contrast, medium-ability students have difficulties with mental manipulation and real-world applications, and low-ability students face significant challenges in basic visualization and interpreting geometric structures, leading to frequent misconceptions.

Terahertz‐Wave Polarization Space‐Division Multiplexing Meta‐Devices based on Spin‐Decoupled Phase Control

AbstractThis study presents a generalized design strategy for novel terahertz‐wave polarization space‐division multiplexing meta‐devices, functioning as multi‐polarization generators, modulators, and analyzers. It introduces the spin‐decoupled phase control method by combining gradient phase design with circular polarization multiplexing techniques, enabling exceptional flexibility in controlling the polarization directions and spatial distributions of multiple output beams. The meta‐device M‐4D is significantly demonstrated as proof of concept, which converts an incident linearly polarized wave into four beams with distinct polarization angles. Additionally, the advanced meta‐devices M‐2B and M‐4B are designed to generate two‐vector and four‐vector Bessel beams with tunable spatial polarization distributions. These meta‐devices demonstrate dynamic multi‐polarization beam modulation, validated through simulations and experiments. The proposed method significantly expands the design methodology for multi‐beam polarization control using all‐dielectric metasurfaces and holds promising potential for applications in imaging, sensing, particle manipulation, communication, and information processing. Moreover, it holds potential for adaptation to other spectral ranges.

All-fiber superfluorescent light amplifier emitting over 50 W high-power vortex beams.

In recent years, the temporal attributes of superfluorescent light sources have garnered significant attention. This study focuses on the spatial characteristics of fiber superfluorescent light sources for the generation and amplification of high-power vortex beams. We successfully generate vortex beams with topological charge of ±1 and achieve an output power exceeding 50 W, while maintaining phase singularity in the whole process. To the best of our knowledge, this represents the highest power level achieved for vortex beams generated entirely within an all-fiber system. The amplified beams exhibit a purity of approximately 90%, providing a compact solution for advanced photonic applications in optical communications, high-resolution imaging, and particle manipulation.

Enhancement of dual autofocusing ability for ring Pearcey edge dislocation beams

Abstract When the ring with the maximum intensity deviates from the central point, the dual autofocusing performance of the ring Pearcey edge dislocation (RPED) beams in free space is gradually destroyed. To address the degradation in the dual autofocusing ability, we investigate the propagation dynamics of the RPED beams in a system with fractional diffraction effect or parabolic potential. The simulation results show that there exists a critical value for the Lévy index, that results in the RPED beams exhibiting an obvious dual autofocusing phenomenon with equal focusing intensities. When the Lévy index is near the critical value, the RPED beams have dual autofocusing characteristics, and the focusing intensity and focal distance can be controlled by changing the Lévy index. The introducing of the parabolic potential leads to the periodic evolution of the RPED beams, and the dual autofocusing property of the RPED beams with smaller radius can be restored within one evolution cycle by changing the potential depth. Moreover, the positions of the edge dislocation affect the focusing intensity, but have no effect on the number of foci. Our research provides some inspiration for the control of dual autofocusing beams, and has potential applications in optical manipulation and optical trapping.

Investigation of control characteristics in tightly focused systems: self-focusing circular Airyprime-Gaussian vortex beams.

This study investigates the intricate properties of linearly polarized circular Airyprime-Gaussian vortex beams (CApGVBs) in tightly focused optical systems. We explore the relationship between self-focusing and tight focusing of CApGVBs by adjusting the main ring radius. By refining vortex pair parameters, we show that the intensity distribution depends significantly on whether the arrangement is axial or off-axis. Additionally, we present various scenarios demonstrating the generation of light bottle modes by linearly polarized CApGVBs. Our analysis explores the Gouy phase difference between the orientation of the spin density vector and the longitudinal and transverse electric field components of the vector beam across different optical distribution factors. We recognize the dual roles of orbital and spin angular momentum (SAM) in vortex beams. Furthermore, we show how the three-dimensional dynamics of the spin density vector during propagation can lead to the formation of a three-dimensional polarized elliptical topology. These findings provide critical insights into the flexible tunability of multi-focusing states, advance the understanding of the unique properties of CApGVBs and their potential applications in micro-optical systems and particle manipulation, while highlighting the potential of CApGVBs to enhance the precision of light capture and control systems.

A ferrofluid microrobot for manipulation in multiple workspaces

Ferrofluid droplet has wide applications in bioanalysis manipulation. This study presents a ferrofluid microrobot for manipulation in different workspaces. Based on the deformation character of droplet, the ferrofluid microrobot has the capabilities of climbing the 3D (3-dimensional) surface, splitting in the channel, and transporting large particles. To manipulate in multiple workspaces with the capabilities, the size and magnetic force of ferrofluid are studied for suitable scenes. It shows that the diameter of 0.5 μl ferrofluid is around 980 μm. The manipulation force of different ferrofluid microrobots ranges from micronewton to millinewton. Subsequently, we have verified the manipulation of the ferrofluid microrobot on a 3D chip by permanent magnet. The ferrofluid microrobot can climb the stairs only when the height of the magnetic fluid is higher than twice the height of the stairs. Meanwhile, splitting of ferrofluid microrobot in the microfluidic chip has been successfully demonstrated. It indicates that the splitting influenced by the magnetic field and large magnetic force is easier to split the microrobot. Finally, the transportation of large polystyrene microparticles (150 μm) is confirmed by the ferrofluid microrobot. These capabilities show that the ferrofluid microrobot has the potential application advantage in biomedicine's micro-drug testing.

Rotating windmill array beam with adjustable wing angle.

In this study, we introduce a method for adjusting the wing angles of windmill beams. After varying the phase parameters, the sector strengths with different wing angles were generated, and they exhibited a self-rotating property in free-space propagation. This phase was obtained by performing an elliptical operation on the stretching vortex phase. The angle between the wings of the beam varied with the ellipticity. Accordingly, array windmill beams with adjustable wing angles were designed. Finally, we analyzed the evolution of the wing angle and self-rotating properties of the beam in detail. The experimental results were consistent with those of simulations. This operational method can be applied to optical cropping techniques, and the beam can be used in optical manipulation and imaging applications.

Autofocusing capabilities of double-ring circular Airy Gaussian beams and their application in particle manipulation

Focusing is extensively researched in bioimaging, medicine, and quantum computation. However, single focal point and short focal length restrict imaging and optical manipulation at long distances. In this study, we propose what we believe to be a novel method, namely the coherent superposition of double-ring circular Airy Gaussian beams (DR-CAiGBs) to achieve multiple autofocusing over long distances. Without complex structures, theoretical simulations and experimental verifications demonstrate that the DR-CAiGBs can generate multiple autofocusing points along the optical axis, whose positions and quantities can be flexibly adjusted. Furthermore, we demonstrated the two-dimensional (2D) particle manipulation of the DR-CAiGBs by trapping multiple particles at different autofocusing points over 100 µm. Our research and findings establish new avenues for practical applications in biological cell analysis, particle transportation, and lithography.

Optimising children's movement assessment batteries through application of motivational and attentional manipulations

An external focus of attention, enhanced expectancies, and autonomy support (i.e., OPTIMAL factors) are key factors to optimise motor performance and uncover latent movement capabilities. However, research on the combination of OPTIMAL factors, particularly in children's dynamic movement settings is limited. Therefore, this study examined the combined effects of OPTIMAL factors on children's performance on a dynamic movement assessment battery, hypothesising higher performance scores in the optimised version of the assessment battery versus standardised version of the assessment. Forty-nine children (15 boys, 34 girls; mean age 10.61 ± 1.38 years) completed the Dragon Challenge (DC) dynamic movement assessment battery. Performance was measured via a summation of movement process (technique), outcome, and time-to-completion scores (max score N = 54) with higher scores representing better performance. Participants completed a standardised and an optimised version of the DC in a counterbalanced fashion. For the latter, DC protocols were optimised via the provision of choice (autonomy support); external focus instructions augmented by simple knowledge statement, positive feedback and promotion of a growth mindset (Enhanced expectancies). Results indicate that motor performance (DC score) was better in the optimised (M = 31.08 ± 6.66) vs. standardised (M = 29.04 ± 5.88). The findings indicate that the combination of OPTIMAL factors can improve children's motor performance in dynamic movement settings and that standardised motor assessment may not reveal children's true movement capabilities.