Contact sensing methodology based on propagation of interaction-induced deformation in elastic beams

Genliang Chen, Junjie Luo, Siyue Yao, Hao Yuan, Yanjun Wang, Tao Yu, Hao Wang, Zhongqin Lin, The Meta Robotics Institute, and the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, The Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, The Institute of Marine Equipment, Shanghai Jiao Tong University, The Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures, Shanghai Jiao Tong University

The International Journal of Robotics Research

Published online on February 04, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Owing to the capability of environment perception, contact sensors are increasingly used in robotic systems to enhance their ability to interact with the environment. This paper proposes a simple contact sensing methodology based on the continuum ...