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Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
With safety measures towards the current Covid-19 pandemic, many retails clothing stores have restricted on-site fittings and shifted their business online. Inability to touch on product evaluations shows an apparent limitation as compared…
We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer. Successful solutions require localizing free…
Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…
Friction modulation allows for a range of different sensations and textures to be simulated on flat touchscreens, yet is largely unable to render fundamental tactile interactions such as path following or shape discrimination due to lack of…
In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feature of ViTacTip is its transparent skin, which incorporates…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
With the increase in interest in deployment of robots in unstructured environments to work alongside humans, the development of human-like sense of touch for robots becomes important. In this work, we implement a multi-channel neuromorphic…
Walking is among the most common human activities where the feet can gather rich tactile information from the ground. The dynamic contact between the feet and the ground generates vibration signals that can be sensed by the foot skin. While…
Proprioception, a key sensory modality in haptic perception, plays a vital role in perceiving the 3D structure of objects by providing feedback on the position and movement of body parts. The restoration of proprioceptive sensation is…
As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…