MIT and partners developed a technique for robots to identify object properties by lifting and shaking, using internal ...

Devices called encoders, located inside the sensors ... Automated Generation of Transformations to Mitigate Sensor Hardware Migration in ADS, IEEE Robotics and Automation Letters (2024).

Rather than choosing a commodity replacement part, [Chris] rolled his own from the mechanical parts of the original encoder, like the shaft and panel bushing, and an AS5048A sensor board.