Related papers: Compressed Sensing for Tactile Skins
In the light of the progress in quantum technologies, the task of verifying the correct functioning of processes and obtaining accurate tomographic information about quantum states becomes increasingly important. Compressed sensing, a…
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
Mimicking the perceptual functions of human cutaneous mechanoreceptors, artificial skins or flexible pressure sensors can transduce tactile stimuli to quantitative electrical signals. Conventional methods to design such devices follow a…
Human-like embodied tactile perception is crucial for the next-generation intelligent robotics. Achieving large-area, full-body soft coverage with high sensitivity and rapid response, akin to human skin, remains a formidable challenge due…
We discuss the applicability of compressed sensing theory. We take a genuine look at both experimental results and theoretical works. We answer the following questions: 1) What can compressed sensing really do? 2) More importantly, why?
Electron tomography has achieved higher resolution and quality at reduced doses with recent advances in compressed sensing. Compressed sensing (CS) theory exploits the inherent sparse signal structure to efficiently reconstruct…
Tactile perception is crucial for a variety of robot tasks including grasping and in-hand manipulation. New advances in flexible, event-driven, electronic skins may soon endow robots with touch perception capabilities similar to humans.…
Many practical sensing applications involve multiple sensors simultaneously acquiring measurements of a single object. Conversely, most existing sparse recovery guarantees in compressed sensing concern only single-sensor acquisition…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
The goal in signal compression is to reduce the size of the input signal without a significant loss in the quality of the recovered signal. One way to achieve this goal is to apply the principles of compressive sensing, but this has not…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…
Speeding up the data acquisition is one of the central aims to advance tomographic imaging. On the one hand, this reduces motion artifacts due to undesired movements, and on the other hand this decreases the examination time for the…
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…
Most of compressed sensing (CS) theory to date is focused on incoherent sensing, that is, columns from the sensing matrix are highly uncorrelated. However, sensing systems with naturally occurring correlations arise in many applications,…