Fumiya Iida

Fumiya Iida
University of Cambridge | Cam · Department of Engineering

Dr sc nat

About

240
Publications
56,552
Reads
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5,759
Citations
Introduction
Skills and Expertise
Additional affiliations
January 2012 - present
ETH Zurich
August 2009 - July 2015
ETH Zurich
Position
  • Professor (Assistant)
January 2006 - December 2009
Massachusetts Institute of Technology

Publications

Publications (240)
Article
Full-text available
Soft sensing technologies have the potential to revolutionize wearable devices, haptic interfaces and robotic systems. However, there are numerous challenges in the deployment of these devices due to their poor resilience, high energy consumption, and omnidirectional strain responsivity. This work reports the development of a versatile ionic gelati...
Article
Full-text available
Realtime visual feedback from consequences of actions is useful for future safety-critical human–robot interaction applications such as remote physical examination of patients. Given multiple formats to present visual feedback, using face as feedback for mediating human–robot interaction in remote examination remains understudied. Here we describe...
Article
Full-text available
The mechanical properties of a sensor strongly affect its tactile sensing capabilities. By exploiting tactile filters, mechanical structures between the sensing unit and the environment, it is possible to tune the interaction dynamics with the surrounding environment. But how can we design a good tactile filter? Previously, the role of filters’ geo...
Article
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The neuroplasticity rule Differential Extrinsic Plasticity (DEP) has been studied in the context of goal-free simulated agents, producing realistic-looking, environmentally-aware behaviors, but no successful control mechanism has yet been implemented for intentional behavior. The goal of this paper is to determine if “short-circuited DEP,” a simple...
Preprint
Full-text available
Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions that a soft robot can have. In this work, we present a deep-learning methodology to learn high-dimensional vis...
Article
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Chefs frequently rely on their taste to assess the content and flavor of dishes during cooking. While tasting the food, the mastication process also provides continuous feedback by exposing the taste receptors to food at various stages of chewing. Since different ingredients of the dish undergo specific changes during chewing, the mastication helps...
Article
Tissue examination by hand remains an essential technique in clinical practice. The effective application depends on skills in sensorimotor coordination, mainly involving haptic, visual, and auditory feedback. The skills clinicians have to learn can be as subtle as regulating finger pressure with breathing, choosing palpation action, monitoring inv...
Article
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Embedded soft sensors can significantly impact the design and control of soft-bodied robots. Although there have been considerable advances in technology behind these novel sensing materials, their application in real-world tasks, especially in closed-loop control tasks, has been severely limited. This is mainly because of the challenge involved wi...
Preprint
Full-text available
This paper proposes a soft sensor embedded in a soft ring actuator with five fingers as a soft hand to identify the bifurcation of manipulated objects during the in-hand manipulation process. The manipulation is performed by breaking the symmetry method with an underactuated control system by bifurcating the object to clockwise or counter-clockwise...
Article
Autonomous robots comprise actuation, energy, sensory and control systems built from materials and structures that are not necessarily designed and integrated for multifunctionality. Yet, animals and other organisms that robots strive to emulate contain highly sophisticated and interconnected systems at all organizational levels, which allow multip...
Article
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The ability to remotely control a free-floating object through surface flows on a fluid medium can facilitate numerous applications. Current studies on this problem have been limited to uni-directional motion control due to the challenging nature of the control problem. Analytical modelling of the object dynamics is difficult due to the high-dimens...
Article
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Soft robots are, due to their softness, inherently safe and adapt well to unstructured environments. However, they are prone to various damage types. Self-healing polymers address this vulnerability. Self-healing soft robots can recover completely from macroscopic damage, extending their lifetime. For developing healable soft robots, various format...
Chapter
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The agile nature of physical interactions in animal and plant species has inspired many recent advances in robotics and their control frameworks. However, they still face challenges in interaction with ever-changing unconstructured world that we live in. Intelligence is one of nature's survival solutions for biological creatures to adapt to and res...
Article
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Self-healing sensors have the potential to increase the lifespan of existing sensing technologies, especially in soft robotic and wearable applications. Furthermore, they could bestow additional functionality to the sensing system because of their self-healing ability. This paper presents the design for a self-healing sensor that can be used for da...
Article
Behavioral diversity seen in biological systems is, at the most basic level, driven by interactions between physical materials and their environment. In this context we are interested in falling paper systems, specifically the V-shaped falling paper (VSFP) system that exhibits a set of discrete falling behaviors across the morphological parameter s...
Article
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We reach walking optimality from a very early age by using natural supports, which can be the hands of our parents, chairs, and training wheels, and bootstrap a new knowledge from the recently acquired one. The idea behind bootstrapping is to use the previously acquired knowledge from simpler tasks to accelerate the learning of more complicated one...
Article
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Communication delay represents a fundamental challenge in telerobotics: on one hand, it compromises the stability of teleoperated robots, on the other hand, it decreases the user’s awareness of the designated task. In scientific literature, such a problem has been addressed both with statistical models and neural networks (NN) to perform sensor pre...
Article
Medical palpation is a diagnostic technique in which physicians use the sense of touch to manipulate the soft human tissue. This can be done to enable the diagnosis of possibly life-threatening conditions, such as cancer. Palpation is still poorly understood because of the complex interaction dynamics between the practitioners' hands and the soft h...
Article
Sensor morphology and structure has the ability to significantly aid and improve tactile sensing capabilities, through mechanisms such as improved sensitivity or morphological computation. However, different tactile tasks require different morphologies posing a challenge as to how to best design sensors, and also how to enable sensor morphology to...
Article
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Autonomous dishwasher loading is a benchmark problem in robotics that highlights the challenges of robotic perception, planning, and manipulation in an unstructured environment. Current approaches resort to a specialized solution, however, these technologies are not viable in a domestic setting. Learning‐based solutions seem promising for a general...
Article
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Evolutionary studies have unequivocally proven the transition of living organisms from water to land. Consequently, it can be deduced that locomotion strategies must have evolved from one environment to the other. However, the mechanism by which this transition happened and its implications on bio-mechanical studies and robotics research have not b...
Article
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The ability to 3D print soft materials with integrated strain sensors enables significant flexibility for the design and fabrication of soft robots. Hydrogels provide an interesting alternative to traditional soft robot materials, allowing for more varied fabrication techniques. In this work, we investigate the 3D printing of a gelatin-glycerol hyd...
Article
Physicians use pain expressions shown in a patient's face to regulate their palpation methods during physical examination. Training to interpret patients' facial expressions with different genders and ethnicities still remains a challenge, taking novices a long time to learn through experience. This paper presents MorphFace: a controllable 3D physi...
Chapter
Agricultural robots are subject to a much harsher environment than those in the factory or lab and control strategies need to take this into account while maintaining a low cycle time. Three control strategies were tested on Vegebot, a lettuce-picking robot, in both simulation and on the real robot. Between a fast open loop that was vulnerable to e...
Article
The intrinsic compliance of soft robots provides safety, a natural adaptation to its environment, allows to absorb shocks, and protects them against mechanical impacts. However, a literature study shows that the soft polymers used for their construction are susceptible to various types of damage, including fatigue, overloads, interfacial debonding,...
Article
Full-text available
Soft robotic sensors have been limited in their applications due to their highly nonlinear time variant behavior. Current studies are either looking into techniques to improve the mechano-electrical properties of these sensors or into modelling algorithms that account for the history of each sensor. Here, we present a method for combining multi-mat...
Article
The structure of the human musculo-skeletal systems shows complex passive dynamic properties, critical for adaptive grasping and motions. Through wrist and arm actuation, these passive dynamic properties can be exploited to achieve nuanced and diverse environment interactions. We have developed a passive anthropomorphic robot hand that shows comple...
Article
We introduce the framework of reality-assisted evolution to summarize a growing trend towards combining model-based and model-free approaches to improve the design of physically embodied soft robots. In silico, data-driven models build, adapt, and improve representations of the target system using real-world experimental data. By simulating huge nu...
Article
Robotic phantoms enable advanced physical examination training before using human patients. In this article, we present an abdominal phantom for palpation training with controllable stiffness liver nodules that can also sense palpation forces. The coupled sensing and actuation approach is achieved by pneumatic control of positive-granular jammed no...
Chapter
Developing robots that can contribute to cleaning could have a significant impact on the lives of many. Cleaning wet liquid spills is a particularly challenging task for a robotic system, and has several high impact applications. This is a hard task to physically model due to the complex interactions between cleaning materials and the surface. As s...
Chapter
Full-text available
Control of robots has largely been based on the assumption of a fixed morphology. Accordingly, robot designs have been stationary in time, except for the case of modular robots. Any drastic change in morphology, hence, requires a remodelling of the controller. This work takes inspiration from developmental robotics to present a piecewise morphology...
Chapter
Conveyor belts are core components in several industries. Often, workers need to operate on conveyor belts, selectively picking objects based on visual features following inspection. In such cases it is desirable to be able to selectively identify such items automatically. The need of tailored systems discourages solutions based on common data coll...
Article
In the past decade, the use of soft, deformable materials has gained widespread interest due to their potential to carry out tasks in unstructured environments, such as grasping or manipulating objects with a wide variety of shapes and sizes, locomotion in irregular terrains, and enabling safe and flexible interactions between humans and robots. Th...
Article
The articles in this special section focus on the topic of soft robotics, with particular emphasis on the design of a new generation of adaptive, compliant, and reliable soft robots.
Article
Full-text available
This paper proposes a framework to investigate the influence of physical interactions to sensory information, during robotic palpation. We embed a capacitive tactile sensor on a robotic arm to probe a soft phantom and detect and classify hard inclusions within it. A combination of PCA and K-Means clustering is used to: first, reduce the dimensional...
Preprint
Full-text available
Bipedal locomotion has several key challenges, such as balancing, foot placement, and gait optimization. We reach optimality from a very early age by using natural supports, such as our parent’s hands, chairs, and training wheels, and bootstrap a new knowledge from the recently acquired one. In this paper, we propose a scaffolded learning method fr...
Article
Full-text available
Piano is a complex instrument, which humans learn to play after many years of practice. This paper investigates the complex dynamics of the embodied interactions between a human and piano, in order to gain insights into the nature of humans’ physical dexterity and adaptability. In this context, the dynamic interactions become particularly crucial f...
Article
Full-text available
Modeling of soft robots is typically performed at the static level or at a second-order fully dynamic level. Controllers developed upon these models have several advantages and disadvantages. Static controllers, based on the kinematic relations tend to be the easiest to develop, but by sacrificing accuracy, efficiency and the natural dynamics. Cont...
Article
Full-text available
Dense and distributed tactile sensors are critical for robots to achieve human-like manipulation skills. Soft robotic sensors are a potential technological solution to obtain the required high dimensional sensory information unobtrusively. However, the design of this new class of sensors is still based on human intuition or derived from traditional...
Article
Soft robots have garnered interest for real-world applications because of their intrinsic safety embedded at the material level. These robots use deformable materials capable of shape and behavioral changes and allow conformable physical contact for manipulation. Yet, with the introduction of soft and stretchable materials to robotic systems comes...
Article
Full-text available
Soft Robotics is a research field still in its infancy, but it has remarkable potential. Nevertheless, it still has to overcome a number of challenges before it can deliver off-the-shelf solutions. To address these challenges and form a community, the first IEEE international conference of Soft Robotics (RoboSoft 2018) was organized in Livorno (Ita...
Article
Full-text available
With advances in the field of robotic manipulation, sensing and machine learning, robotic chefs are expected to become prevalent in our kitchens and restaurants. Robotic chefs are envisioned to replicate human skills in order to reduce the burden of the cooking process. However, the potential of robots as a means to enhance the dining experience is...
Article
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Robotics competitions stimulate the next generation of cutting edge robotics solutions and innovative technologies. The World Robot Summit (WRS) Industrial Assembly challenge posed a key research challenge: how to develop adaptive industrial assembly robots. The overall goal is to develop robots where minimal hardware or software changes are requir...
Article
Full-text available
Free-falling paper shapes exhibit rich, complex and varied behaviours that are extremely challenging to model analytically. Physical experimentation aids in system understanding, but is time-consuming, sensitive to initial conditions and reliant on subjective visual behavioural classification. In this study, robotics, computer vision and machine le...
Article
Full-text available
Recent technological advances in robotic sensing and actuation methods have prompted development of a range of new medical training simulators with multiple feedback modalities. Learning to interpret facial expressions of a patient during medical examinations or procedures has been one of the key focus areas in medical training. This article review...