Related papers: Identifying Multiple Interaction Events from Tacti…

When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Touch is an important channel for human-robot interaction, while it is challenging for robots to recognize human touch accurately and make appropriate responses. In this paper, we design and implement a set of large-format distributed…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived…

Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…

Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…

Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…

This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence,…

Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, an open-source wearable tactile glove…

Affective interaction is not merely about recognizing emotions; it is an embodied, situated process shaped by context and co-created through interaction. In affective computing, the role of haptic feedback within dynamic emotional exchanges…

Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…

Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…

In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

This report presents the experimental methodology and a step-by-step guide for gathering data on how aging influences tactile surface perception in decision and action. The experiments consist of a set of trials in which the ability to…

This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…

Emotion expressions serve as important communicative signals and are crucial cues in intuitive interactions between humans. Hence, it is essential to include these fundamentals in robotic behavior strategies when interacting with humans to…