Related papers: Airborne Ultrasonic Tactile Display Brain-computer…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
Low-intensity transcranial focused ultrasound (tFUS) is rapidly emerging as a transformative non-invasive brain stimulation (NIBS) modality characterized by high spatial resolution and ability to target deep brain circuits. Unlike…
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…
An electroencephalogram is an effective approach that provides a bidirectional pathway between the user and computer in a non-invasive way. In this study, we adopted the visual imagery data for controlling the BCI-based robotic arm. Visual…
Individuals with tetraplegia and similar forms of paralysis suffer physically and emotionally due to a lack of autonomy. To help regain part of this autonomy, assistive robotic arms have been shown to increase living independence. However,…
The paper presents results from a psychophysical study conducted to optimize vibrotactile stimuli delivered to subject finger tips in order to evoke the somatosensory responses to be utilized next in a haptic brain computer interface (hBCI)…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…
Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still…
Continuous brain-computer interfaces (BCIs) that decode motion trajectories from imagined movement offer intuitive motor control, yet how feedback modality and longitudinal training shape neural representations and decoding performance…
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…
Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…
Bringing tactile sensation to robotic hands will allow for more effective grasping, along with the wide range of benefits of human-like touch. Here we present a 3D-printed, three-fingered tactile robot hand comprising an OpenHand Model O…
As the proliferation of technology dramatically infiltrates all aspects of modern life, in many ways the world is becoming so dynamic and complex that technological capabilities are overwhelming human capabilities to optimally interact with…
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion…
Brain-computer interface (BCI) is the technology that enables the communication between humans and devices by reflecting status and intentions of humans. When conducting imagined speech, the users imagine the pronunciation as if actually…
Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…