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Zhanat Kappassov

Zhanat Kappassov
Nazarbayev University and Bentley University

Diplom

About

27
Publications
18,201
Reads
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600
Citations
Introduction
Currently work in robotics, tactile sensing and haptics, after originally training as a radio-engineer.
Additional affiliations
December 2011 - present
Nazarbayev University
Position
  • Teaching Assistant/Research Assistant

Publications

Publications (27)
Article
Full-text available
The sense of touch is fundamental for a one-to-one mapping between the environment and a robot that physically interacts with the environment. Herein, we describe a tactile fingertip design that can robustly detect interaction forces given data collected from a camera. This design is based on the photoelastic effect observed in silicone matter. Und...
Article
Full-text available
Accurate and fast contact detection between a robot manipulator and objects is crucial for safe robot–object and human–robot interactions. Traditional collision detection techniques relied on force–torque sensors and Columb friction cone estimation. However, the strain gauges used in the conventional force sensors require low-noise and high-precisi...
Article
Full-text available
In the last decade, several new haptic devices have been developed, contributing to the definition of more realistic virtual environments. An overview on this topic requires a description of the various technologies employed in building such devices, and of their application domains. This survey describes the current technology underlying haptic de...
Conference Paper
Full-text available
Traditionally vibrotactile feedback delivered by haptic interfaces is used to provide additional support for visual interaction via prehensile object manipulation using fingers. Nevertheless, haptic stimuli can be also applied for non-prehensile interaction that involves movements of the elbow joint. In this paper, we have designed a table-top hapt...
Article
Full-text available
We describe an algorithm that can robustly decide whether a grip or a footstep is secure given data collected from at least two independent sensors. This algorithm is based on the observation that if there is an absence of slip, then, owing to the high velocity of mechanical waves in solids, the two sensor signals must be highly correlated, even in...
Article
Full-text available
Autonomous dexterous manipulation relies on the ability to recognize an object and detect its slippage. Dynamic tactile signals are important for object recognition and slip detection. An object can be identified based on the acquired signals generated at contact points during tactile interaction. The use of vibrotactile sensors can increase the ac...
Article
Full-text available
Negative stiffness honeycombs (NSHs) have multiple advantages compared to traditional honeycomb structures. These advantages include recoverable elastic buckling, shock absorption, and vibration isolation. As a result, NSHs have great potential in applications such as acoustic wave guiding, shape morphing, design of impact-protection devices and ro...
Article
Full-text available
Object manipulation performed by robots refers to the art of controlling the shape and location of an object through force constraints with robot end-effectors, both robot hands, and grippers. The success of task execution is usually guaranteed by the sense of touch. In this work, we present an optical tactile sensor incorporating plastic optical f...
Article
Full-text available
Haptic interfaces allow a more realistic experience with Virtual Reality (VR). They are used to manipulate virtual objects. These objects can be rigid and soft. In this letter, we have designed and evaluated a vibrotactile hand-held device (VibeRo) to achieve haptic cues of different soft objects. The proposed method is based on combining the visio...
Article
Full-text available
We propose an approach that considers controlling contact between a robot and the environment during physical interactions. Current physical interaction control approaches are limited in terms of the range of tasks that can be performed. To allow robots to perform more tasks, we derive tactile features representing deformations of the mechanically...
Preprint
Full-text available
The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment. In this work, we present our color-coded tactile sensor, incorporating plastic optical fibers (POF), transparen...
Preprint
Full-text available
Tactile sensing arrays are used to detect contacts of robotic systems with the environment. They are particularly useful for scenarios in which vision-based sensors cannot be used. Thanks to the presence of multiple sensing elements, tactile arrays also provide spatial information about the contact location. In this work, we present our series elas...
Thesis
Full-text available
Robots have improved industry processes, most recognizably in conveyor-belt assemblysystems, and have the potential to bring even more benefits to our society in transportation,exploration of dangerous zones, deep sea or even other planets, health care and inour everyday life. A major barrier to their escape from fenced industrial areas to environm...
Conference Paper
Full-text available
In most robotic applications, tactile sensors are modeled as rigid matrices of adjacent pressure sensing elements so that the geometric deformations of their surfaces are neglected. This paper proposes to define these deformations as rotational and translational compliances that are later used as new tactile features for tactile servoing tasks. In...
Article
Full-text available
Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this importa...
Conference Paper
Full-text available
This paper presents the preliminary prototype design and implementation of the Nazarbayev University (NU) Hand, a new semi-anthropomorphic multigrasp robotic hand. The hand is designed to be an end effector for industrial and service robots. The main objective is to develop a low-cost, low-weight and easily manufacturable robotic hand with a sensor...

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Projects

Projects (2)
Project
Low-cost easy, manufacturable Multi-fingered robot hand
Project
Touch driven robot arm control