Michael Y Wang | Searcharxiv

arXiv2026

Fabric Phononic Crystals for Passive Vibration Control

Weaving patterns in fabrics, traditionally used for aesthetic purposes, present a largely untapped opportunity to create metamaterials that serve as passive layers for sensing, filtering, and signal processing. However, the hierarchical architecture of fabrics makes structural design and wave prediction challenging. Here, we establish fully woven fabrics as phononic crystals that passively filter and route elastic vibrations. Using double weaving, we integrate a soft cotton weave with stiff woven copper inclusions to form periodic fabric lattices with engineered dispersion. A multiscale modeling framework that combines homogenization of weave blocks with an effective-property macroscale model enables computationally efficient design of phononic crystals. Simulations and experiments confirm a pronounced phononic bandgap for out-of-plane vibrations in a finite fabric crystal, while an equivalent pure cotton weave shows no band suppression in the corresponding frequency range. Building on the same platform, we realize a fully woven higher-order topological insulator. Modal analysis and transmission measurements reveal in-gap edge states and localized corner states. These results show that phononic bandgaps and topological states can be directly encoded through weaving patterns and material contrast, enabling passive vibration management layers and multifunctional waveguiding fabrics for sensing, haptic interfaces, robotics, and noise mitigation.

physics.app-ph↗

arXiv2022

Volumetric-based Contact Point Detection for 7-DoF Grasping

In this paper, we propose a novel grasp pipeline based on contact point detection on the truncated signed distance function (TSDF) volume to achieve closed-loop 7-degree-of-freedom (7-DoF) grasping on cluttered environments. The key aspects of our method are that 1) the proposed pipeline exploits the TSDF volume in terms of multi-view fusion, contact-point sampling and evaluation, and collision checking, which provides reliable and collision-free 7-DoF gripper poses with real-time performance; 2) the contact-based pose representation effectively eliminates the ambiguity introduced by the normal-based methods, which provides a more precise and flexible solution. Extensive simulated and real-robot experiments demonstrate that the proposed pipeline can select more antipodal and stable grasp poses and outperforms normal-based baselines in terms of the grasp success rate in both simulated and physical scenarios.

cs.RO↗