Related papers: Acoustic Wave Approach for Multi-Touch Tactile Sen…
In this thesis a new approach for touch detection on optical multi-touch devices is proposed that exploits the fact that the camera images reveal not only the actual touch points but also objects above the screen such as the hand or arm of…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
This paper presents a new acoustic emission (AE) source localization for isotropic plates with reflecting boundaries. This approach that has no blind spot leverages multimodal edge reflections to identify AE sources with only a single…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
The airborne ultrasound tactile display can present tactile information without direct contact. Using this technology, we developed two methods for simulating the tactile sensation of tapping an object with a finger: the Amplitude…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
Perceptual processes are frequently multi-modal. This is the case of haptic perception. Data sets of visual and haptic sensory signals have been compiled in the past, especially when it comes to the exploration of textured surfaces. These…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Palm-based tactile displays have the potential to evolve from single motor interfaces (e.g., smartphones) to high-resolution tactile displays (e.g., back-of-device haptic interfaces) enabling richer multi-modal experiences with more…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
For humans, both the proprioception and touch sensing are highly utilized when performing haptic perception. However, most approaches in robotics use only either proprioceptive data or touch data in haptic object recognition. In this paper,…
This article presents a set of acoustic measurements conducted on the Statoil funded Behind Casing Logging Set-Up, designed by SINTEF Petroleum Research to resemble an oil well casing. A set of simple simulations using COMSOL Multiphysics…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…