Contact force measurement of the compliant gripper based on a force sensing model.

It is challenging for most existing grippers to accurately measure their contact force when grasping unstructured objects. To address this issue, a novel force sensing model is established. A compliant gripper derived by the topology optimization method is introduced, and its actual deformation is measured without contacting by OpenCV.

A novel method for testing accelerometer transverse sensitivity.

This paper presents a flexure-based compliant mechanism for testing accelerometer transverse sensitivity. The definition of transverse sensitivity is first described. Subsequently, the detailed structure of the developed mechanism is introduced.

Stiffness modeling of compliant parallel mechanisms and applications in the performance analysis of a decoupled parallel compliant stage.

This paper investigates the stiffness modeling of compliant parallel mechanism (CPM) based on the matrix method. First, the general compliance matrix of a serial flexure chain is derived. The stiffness modeling of CPMs is next discussed in detail, considering the relative positions of the applied load and the selected displacement output point.

Robust albedo estimation from a facial image with cast shadow under general unknown lighting.

Albedo estimation from a facial image is crucial for various computer vision tasks, such as 3-D morphable-model fitting, shape recovery, and illumination-invariant face recognition, but the currently available methods do not give good estimation results. Most methods ignore the influence of cast shadows and require a statistical model to obtain facial albedo. This paper describes a method for albedo estimation that makes combined use of image intensity and facial depth information for an image with cast shadows and general unknown light.