Object Manipulation Research Articles

Robot-assisted chirality-tunable acoustic vortex tweezers for contactless, multifunctional, 4-DOF object manipulation.

Robotic manipulation of small objects has shown great potential for engineering, biology, and chemistry research. However, existing robotic platforms have difficulty in achieving contactless, high-resolution, 4-degrees-of-freedom (4-DOF) manipulation of small objects, and noninvasive maneuvering of objects in regions shielded by tissue and bone barriers. Here, we present chirality-tunable acoustic vortex tweezers that can tune acoustic vortex chirality, transmit through biological barriers, trap single micro- to millimeter-sized objects, and control object rotation. Assisted by programmable robots, our acoustic systems further enable contactless, high-resolution translation of single objects. Our systems were demonstrated by tuning acoustic vortex chirality, controlling object rotation, and translating objects along arbitrary-shaped paths. Moreover, we used our systems to trap single objects in regions with tissue and skull barriers and translate an object inside a Y-shaped channel of a thick biomimetic phantom. In addition, we showed the function of ultrasound imaging-assisted acoustic manipulation by monitoring acoustic object manipulation via live ultrasound imaging.

Learning-Based Planner for Unknown Object Dexterous Manipulation Using ANFIS

Dexterous manipulation of unknown objects performed by robots equipped with mechanical hands represents a critical challenge. The difficulties arise from the absence of a precise model of the manipulated objects, unpredictable environments, and limited sensing capabilities of the mechanical hands compared to human hands. This paper introduces a data-driven approach that provides a learning-based planner for dexterous manipulation employing an Adaptive Neuro-Fuzzy Inference System (ANFIS) fed by data obtained from an analytical manipulation planner. ANFIS captures the complex relationships between inputs and optimal manipulation parameters. Moreover, during a training phase, it is able to fine-tune itself on the basis of its experiences. The proposed planner enables a robot to interact with objects of various shapes, sizes, and material properties while providing an adaptive solution for increasing robotic dexterity. The planner is validated in a real-world environment, applying an Allegro anthropomorphic robotic hand. A link to a video of the experiment is provided in the paper.

Mixed interaction: evaluating user interactions for object manipulations in virtual space

Mixed interaction: evaluating user interactions for object manipulations in virtual space

A Learning-based Control Framework for Fast and Accurate Manipulation of a Flexible Object

This paper presents a learning-based control framework for fast (< 1.5 s) and accurate manipulation of a flexible object, i.e., whip targeting. The framework consists of a motion planner learned or optimized by an algorithm, Online Impedance Adaptation Control (OIAC), a sim2real mechanism, and a visual feedback component. The experimental results show that a soft actor-critic algorithm outperforms three Deep Reinforcement Learning (DRL), a nonlinear optimization, and a genetic algorithm in learning generalization of motion planning. It can greatly reduce average learning trials (to < 20%\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\%$$\\end{document} of others) and maximize average rewards (to > 3 times of others). Besides, motion tracking errors are greatly reduced to 13.29%\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\%$$\\end{document} and 22.36%\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\%$$\\end{document} of constant impedance control by the OIAC of the proposed framework. In addition, the trajectory similarity between simulated and physical whips is 89.09%\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\\%$$\\end{document}. The presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.

Exploring Failure Cases in Multimodal Reasoning About Physical Dynamics

In this paper, we present an exploration of LLMs' abilities to problem solve with physical reasoning in situated environments. We construct a simple simulated environment and demonstrate examples of where, in a zero-shot setting, both text and multimodal LLMs display atomic world knowledge about various objects but fail to compose this knowledge in correct solutions for an object manipulation and placement task. We also use BLIP, a vision-language model trained with more sophisticated cross-modal attention, to identify cases relevant to object physical properties that that model fails to ground. Finally, we present a procedure for discovering the relevant properties of objects in the environment and propose a method to distill this knowledge back into the LLM.

Self-creation Without Natural Limits? On a Certain Blindness in Richard Rorty’s Anti-authoritarian Pragmatism

Abstract This article argues that Richard Rorty’s philosophy has a blind spot regarding our relationship with nature. It examines his distinct version of pragmatism to find ways to address this shortcoming. Rorty’s antirepresentational “pragmatism as anti-authoritarianism” and its anthropocentric character are discussed. His linguistic instrumentalism is problematized since it entails an unapologetic Baconian view of knowledge as power and nature as a manipulable object. While Rorty’s Darwinian image of the human being somewhat relativizes this Baconian humanism, it does not address the dependence of the human species on its natural environment. According to the romantic dimension in Rorty, the human being is rather exalted, and the imperative of infinite self-creation ignores natural limits. However, there are valuable resources in Rorty’s philosophy that can limit this imperative and his instrumentalism. For instance, Rorty’s anti-authoritarianism reminds us of the moral responsibility of choice about (our) nature. Furthermore, his inclusivist ethic of solidarity implies the potential extension beyond the human species. Lastly, his notion of philosophy as cultural politics could foster democratic discussion on the pressing issues of technological advance.

Spike timing-based coding in neuromimetic tactile system enables dynamic object classification.

Rapid processing of tactile information is essential to human haptic exploration and dexterous object manipulation. Conventional electronic skins generate frames of tactile signals upon interaction with objects. Unfortunately, they are generally ill-suited for efficient coding of temporal information and rapid feature extraction. In this work, we report a neuromorphic tactile system that uses spike timing, especially the first-spike timing, to code dynamic tactile information about touch and grasp. This strategy enables the system to seamlessly code highly dynamic information with millisecond temporal resolution on par with the biological nervous system, yielding dynamic extraction of tactile features. Upon interaction with objects, the system rapidly classifies them in the initial phase of touch and grasp, thus paving the way to fast tactile feedback desired for neuro-robotics and neuro-prosthetics.

The assistive potential of functional electrical stimulation to support object manipulation in functional upper extremity movements after stroke: A randomized cross-over study

The assistive potential of functional electrical stimulation to support object manipulation in functional upper extremity movements after stroke: A randomized cross-over study

FABRICATION AND ANALYSIS OF AUTOMATIC LINEAR DISTANCE ADJUSTER

The Automatic linear distance adjustment system tailored for robotics arms, capitalizing on ultrasonic sensor technology. The system's design, implementation, and evaluation are comprehensively explored, highlighting its ability to facilitate precise and autonomous adjustments of linear positions within the robotic arm's operational envelope. Real-time feedback mechanisms are integrated, enabling dynamic regulation of the distance between the end-effector and target objects or surfaces. This ensures optimal positioning and operational efficiency during various tasks such as pick-and-place operations, assembly processes, and object manipulation. By reducing reliance on manual adjustments, the system enhances automation and augments robotics arms' capabilities across diverse industrial and research applications. The seamless integration of the proposed system empowers robotics arms with heightened flexibility, accuracy, and adaptability, thereby fostering advancements in robotic automation and control. This innovation holds promise for streamlining manufacturing processes, enhancing productivity, and facilitating intricate tasks that demand precision and efficiency in robotic operations. Through rigorous evaluation and validation, the system demonstrates its potential to revolutionize robotic arm functionalities and pave the way for future developments in automation technologies Keywords: Arduino Uno , Ultrasonic sensor,Stepper Motor, Linear guide rail .

Model predictive manipulation of compliant objects with multi-objective optimizer and adversarial network for occlusion compensation

Background:The manipulation of compliant objects by robotic systems remains a challenging task, largely due to their variable shapes and the complex, high-dimensional nature of their interaction dynamics. Traditional robotic manipulation strategies struggle with the accurate modeling and control necessary to handle such materials, especially in the presence of visual occlusions that frequently occur in dynamic environments. Meanwhile, for most unstructured environments, robots are required to have autonomous interactions with their surroundings. Methods:To solve the shape manipulation of compliant objects in an unstructured environment, we begin by exploring the regression-based algorithm of representing the high-dimensional configuration space of deformable objects in a compressed form that enables efficient and effective manipulation. Simultaneously, we address the issue of visual occlusions by proposing the integration of an adversarial network, enabling guiding the shaping task even with partial observations of the object. Afterwards, we propose a receding-time estimator to coordinate the robot action with the computed shape features while satisfying various performance criteria. Finally, model predictive controller is utilized to compute the robot’s shaping motions subject to safety constraints. Detailed experiments are presented to evaluate the proposed manipulation framework. Significant findings:Our MPC framework utilizes the compressed representation and occlusion-compensated information to predict the object’s behavior, while the multi-objective optimizer ensures that the resulting control actions meet multiple performance criteria. Through rigorous experimental validation, our approach demonstrates superior manipulation capabilities in scenarios with visual obstructions, outperforming existing methods in terms of precision and operational reliability. The findings highlight the potential of our integrated approach to significantly enhance the manipulation of compliant objects in real-world robotic applications.

Physical education and positivism: some considerations in this scenario

In the historic process of breaking with the aristocracy and the clergy, giving way to the republic, industrialization and the bourgeoisie, Comtean positivism arose with the intention of legitimizing this new social structure, subordinating imagination to observation. In different movements in Physical Education, the presence of positivism is legitimized. The aim of this theoretical essay is to bring up some considerations about the marks of positivist thinking in Physical Education. Physical Education has undergone several transformations, but the biologicist, technicist and experimental character remains part of its essence, whether in professional practice or in research. Through the courses of this social practice, we see the "tool-body" inside and outside the school, the result of restricted perceptions of its possibilities, being the object of political manipulation equated in history. From its inception to its scientific flights, Physical Education emanates the consecrated vestiges of positivism, neglecting its reactive possibilities for understanding the humanized body.

A spatial 3-DOF piezoelectric robot and its speed-up trajectory based on improved stick-slip principle

Piezoelectric robots have been proven to be suitable for high-precision, cross-scale micro-nano manipulation due to their nanometre resolution and high flexibility. To make up for the limited stroke of micro-nano positioning platforms, a spatial three-degrees-of-freedom (3-DOF) piezoelectric robot is proposed in this study to enable three-dimensional micro-nano manipulation of objects. The robot utilizes the deformation of the piezoelectric stack as the source of displacement. It is comprised of a parallel compliant mechanism and a guided compliant mechanism in series, resulting in a compact robot body. The robot is capable of linear displacement in x-, y- and z-axes. The stiffness of the guided compliant mechanism is calculated using theoretical modeling and compared with the finite element simulation results, with a deviation of less than 5.6% verifying the accuracy of the model. The robot operates using two motion principles: the direct drive principle, which has a resolution of 16, 15, and 11 nm in x-, y- and z-axes, and a motion space of 13×11×7 μm3; and the improved stick-slip principle, which has a theoretical infinite stroke and a maximum speed of 4.2 and 3.9 mm/s in x- and y-axes. The speed of the improved stick-slip principle is 42% higher than that of the traditional stick-slip principle in x- and y-axes. The robot has a spatial 3-DOF, nanometre resolution, millimeter speed, and can carry more than 500 g.

Pressure-Based Soft Agents.

Biological agents have bodies that are composed mostly of soft tissue. Researchers have resorted to soft bodies to investigate Artificial Life (ALife)-related questions; similarly, a new era of soft-bodied robots has just begun. Nevertheless, because of their infinite degrees of freedom, soft bodies pose unique challenges in terms of simulation, control, and optimization. Herein I propose a novel soft-bodied agents formalism, namely, pressure-based soft agents (PSAs): spring-mass membranes containing a pressurized medium. Pressure endows the agents with structure, while springs and masses simulate softness and allow the agents to assume a large gamut of shapes. PSAs actuate both locally, by changing the resting lengths of springs, and globally, by modulating global pressure. I optimize the controller of PSAs for a locomotion task on hilly terrain, an escape task from a cage, and an object manipulation task. The results suggest that PSAs are indeed effective at the tasks, especially those requiring a shape change. I envision PSAs as playing a role in modeling soft-bodied agents, such as soft robots and biological cells.

OBT-Trace: An approach to trace and recognition object motion through prosthetic hand gestures

The development of prosthetic hands has advanced significantly in recent years, aiming to provide more intuitive and functional solutions for individuals with upper limb amputations. This research presents a novel approach to prosthetic hand control by integrating 3D hand gesture recognition with object manipulation and recognition capabilities. Our proposed system utilizes a pre-trained object recognition model, based on transfer learning, to enable the prosthetic hand to perceive and identify objects in its vicinity. The model leverages a vast dataset of objects, enabling the prosthetic hand to recognize a wide array of everyday items, thus enhancing its versatility.In addition, the prosthetic hand incorporates a sophisticated 3D hand gesture recognition system, allowing users to control the hand's movements and actions seamlessly. By recognizing specific gestures, such as grasping, lifting, and releasing, users can intuitively interact with their environment and perform various tasks with ease. This research leverages the synergy between gesture recognition and object recognition, creating a powerful framework for prosthetic hand control. The system's adaptability and versatility make it suitable for a broad range of applications, from assisting with daily tasks to enhancing the quality of life for individuals with upper limb amputations.The results of this study demonstrate the feasibility and effectiveness of combining 3D hand gesture recognition with pre-trained object recognition through transfer learning. This approach opens up new possibilities for enhancing prosthetic hand functionality and usability, ultimately improving the lives of those who rely on these devices for daily living. The proposed model combines the features of YOLO V7 object detection with pre-trained models. The proposed model achieves 99.8% of accuracy compared to the existing models.

Meter‐Scale Distance Manipulation of Diverse Objects with Jet‐Induced Airflow Field

In nature, wind can transport objects of diverse shapes and materials over long distances spanning meters or beyond. In contrast, most noncontact manipulation methods are effective only over centimeter‐scale distances and require the manipulated objects to have specific magnetic, electrical, or other material properties and shapes. Herein, a meter‐scale distance manipulation method is presented for controlling the motion of objects of diverse shapes and materials on a plane surface using a jet‐induced airflow field. The airflow field is varied by controlling the direction of a single air jet projected onto a surface based on the positions of objects to steer the objects to follow desired trajectories up to 2.7 m away. A wide variety of objects can be automatically manipulated, from regularly shaped polystyrene hemispheres and sticks to irregularly shaped cotton wads and face masks as well as deformable tissue papers and plastic bags. The method is also robust, effectively manipulating objects under challenging conditions, e.g., external airflow disturbances, surface obstacles, and air–water interface. Finally, three application cases are demonstrated: collecting diverse objects into a target receptacle, hooking and retrieving heavy objects with a tethered mobile agent, and closing an electrical circuit with an untethered soft agent.

Secondary somatosensory and posterior insular cortices: a somatomotor hub for object prehension and manipulation movements.

The secondary somatosensory cortex (SII) and posterior insular cortex (pIC) are recognized for processing touch and movement information during hand manipulation in humans and non-human primates. However, their involvement in three-dimensional (3D) object manipulation remains unclear. To investigate neural activity related to hand manipulation in the SII/pIC, we trained two macaque monkeys to grasp three objects (a cone, a plate, and a ring) and engage in visual fixation on the object. Our results revealed that 19.4% (n = 50/257) of the task-related neurons in SII/pIC were active during hand manipulations, but did not respond to passive somatosensory stimuli. Among these neurons, 44% fired before hand-object contact (reaching to grasping neurons), 30% maintained tonic activity after contact (holding neurons), and 26% showed continuous discharge before and after contact (non-selective neurons). Object grasping-selectivity varied and was weak among these neurons, with only 24% responding to fixation of a 3D object (visuo-motor neurons). Even neurons unresponsive to passive visual stimuli showed responses to set-related activity before the onset of movement (42%, n = 21/50). Our findings suggest that somatomotor integration within SII/pIC is probably integral to all prehension sequences, including reaching, grasping, and object manipulation movements. Moreover, the existence of a set-related activity within SII/pIC may play a role in directing somatomotor attention during object prehension-manipulation in the absence of vision. Overall, SII/pIC may play a role as a somatomotor hub within the lateral grasping network that supports the generation of intentional hand actions based on haptic information.

Elements of decorative prose in the novel by Alexander Sobolev “Griffins guard the lyre”

The topic of the article is relevant because it considers the specific poetics of the modern neo-modernist work. It is worth noting that the novel “Griffins Guard the Lyre” is a part of a new wave of modernism that has emerged in the Russian literature over the past few decades. In addition to A. Sobolev, this wave includes such writers as E. Vodolazkin, S. Bolmat, A. Varlamov and others. The purpose of the article is to describe the functions of the ornamental prose elements in A. Sobolev’s work “Griffins Guard the Lyre.” The main research methods used in the article are semiotic and intertextual analyses. Besides A. Sobolev's novel, the works of V. Nabokov, Y. Olesha, and F. Sologub served as the empirical materials. In the course of considering the work of A. Sobolev from the point of view of the criteria applied to the ornamental prose, it was found that the novel has the following features: a) an organic fusion of the epic and lyrical principles; b) destruction and deconstruction of genre forms. The fairy tale principle is also present in A. Sobolev’s novel, but it performs completely different functions. The author seems to use the tale as an object of manipulation. We can conclude that A. Sobolev borrowed some techniques from domestic postmodernists/conceptualists. Since the elements of the ornamental writing in the novel “The Griffins Guard the Lyre” have not been considered before, we can confidently state that all the obtained scientific results are new.

Development of a Two-Finger Haptic Robotic Hand with Novel Stiffness Detection and Impedance Control.

Haptic hands and grippers, designed to enable skillful object manipulation, are pivotal for high-precision interaction with environments. These technologies are particularly vital in fields such as minimally invasive surgery, where they enhance surgical accuracy and tactile feedback: in the development of advanced prosthetic limbs, offering users improved functionality and a more natural sense of touch, and within industrial automation and manufacturing, they contribute to more efficient, safe, and flexible production processes. This paper presents the development of a two-finger robotic hand that employs simple yet precise strategies to manipulate objects without damaging or dropping them. Our innovative approach fused force-sensitive resistor (FSR) sensors with the average current of servomotors to enhance both the speed and accuracy of grasping. Therefore, we aim to create a grasping mechanism that is more dexterous than grippers and less complex than robotic hands. To achieve this goal, we designed a two-finger robotic hand with two degrees of freedom on each finger; an FSR was integrated into each fingertip to enable object categorization and the detection of the initial contact. Subsequently, servomotor currents were monitored continuously to implement impedance control and maintain the grasp of objects in a wide range of stiffness. The proposed hand categorized objects' stiffness upon initial contact and exerted accurate force by fusing FSR and the motor currents. An experimental test was conducted using a Yale-CMU-Berkeley (YCB) object set consisted of a foam ball, an empty soda can, an apple, a glass cup, a plastic cup, and a small milk packet. The robotic hand successfully picked up these objects from a table and sat them down without inflicting any damage or dropping them midway. Our results represent a significant step forward in developing haptic robotic hands with advanced object perception and manipulation capabilities.

Permainan Edukasi Puzzle Math Untuk Menstimulasi Motorik Siswa

This service examines the necessity and pertinence of adopting a pedagogical approach that incorporates educational game components in order to promote motor development and enhance student engagement in the learning process. On November 18, 2023, this service activity was conducted at UPTD. SD Negeri 014672 Tanjung Alam. This activity is structured into three distinct phases during its execution: preparation, implementation, and practice. Based on empirical findings, engaging in direct interaction with mathematical puzzles has been found to enhance hand-motor coordination, finger dexterity, and precision control during object manipulation. Ninety-five percent of students were extremely interested in this educational game; eighty-five percent felt that math puzzle games improved their fine motor skills (hand and finger movements); and ninety-two percent intend to continue playing math puzzles on other materials in the future, according to the results of the questionnaire assessing the experience of playing with math puzzles. Students' fine motor skills improved significantly as a result of the implementation of this game, it was concluded.

Programmable photoacoustic patterning of microparticles in air.

Optical and acoustic tweezers, despite operating on different physical principles, offer non-contact manipulation of microscopic and mesoscopic objects, making them essential in fields like cell biology, medicine, and nanotechnology. The advantages and limitations of optical and acoustic manipulation complement each other, particularly in terms of trapping size, force intensity, and flexibility. We use photoacoustic effects to generate localized Lamb wave fields capable of mapping arbitrary laser pattern shapes. By using localized Lamb waves to vibrate the surface of the multilayer membrane, we can pattern tens of thousands of microscopic particles into the desired pattern simultaneously. Moreover, by quickly and successively adjusting the laser shape, microparticles flow dynamically along the corresponding elastic wave fields, creating a frame-by-frame animation. Our approach merges the programmable adaptability of optical tweezers with the potent manipulation capabilities of acoustic waves, paving the way for wave-based manipulation techniques, such as microparticle assembly, biological synthesis, and microsystems.