Espen Knoop

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We present the Tickler, a compliant wearable tactile display that creates natural-feeling stroking sensations. The current state-of-the-art of tactile devices relies primarily on vibrotactile stimulation, which limits the possible sensations that can be created. There is a wide range of applications for tactile devices mimicking the sensation created by(More)
Casein micelles of different composition were synthesized in various ways and their sub-structure was investigated with the electron microscope by means of thin sections. Earlier studies of Schmidt et al. (1974) using the freeze-fracturing technique had shown no differences in the sub-structure of natural micelles and artificial micelles containing Ca and(More)
Tactile force sensing and compliance are key elements of safe and natural-feeling human-robot interaction. We present an optical tactile sensor in the form of a compliant elastomer 'fingertip' tracked by a high-speed low-resolution image sensor with on-board signal processing. We propose a dual-mode bio-mimetic control loop, where in reflex mode the sensor(More)
In this paper we present an optimization-based approach for the design of cable-driven kinematic chains and trees. Our system takes as input a hierarchical assembly consisting of rigid links jointed together with hinges. The user also specifies a set of target poses or keyframes using inverse kinematics. Our approach places torsional springs at the joints(More)
We present variable amplitude module orthogonal slider (VAMOS), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a variable amplitude module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to(More)
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