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Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…

Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…

Retrieving target information based on input query is of fundamental importance in many real-world applications. In practice, it is not uncommon for the initial search to fail, where additional feedback information is needed to guide the…

Artificial touch would seem well-suited for Reinforcement Learning (RL), since both paradigms rely on interaction with an environment. Here we propose a new environment and set of tasks to encourage development of tactile reinforcement…

Current large-scale generative models have impressive efficiency in generating high-quality images based on text prompts. However, they lack the ability to precisely control the size and position of objects in the generated image. In this…

The motion visualization in a structural component was studied for defect detection. Elastic motions were excited by hammer impacts at multiple points and received by an accelerometer at a fixed point. Reciprocity in elastodynamics is only…

Haptic technology, or haptics, is a tactile feedback technology which takes advantage of a user's sense of touch by applying forces, vibrations, and/or motions upon the user. This mechanical stimulation may be used to assist in the creation…

We develop a Bayesian framework for the efficient estimation of impulse responses using Local Projections (LPs) with instrumental variables. It accommodates multiple shocks and instruments, accounts for autocorrelation in multi-step…

In this paper we address the problem of multi-cue affect recognition in challenging scenarios such as child-robot interaction. Towards this goal we propose a method for automatic recognition of affect that leverages body expressions…

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…

Personalization is a crucial aspect of many online experiences. In particular, content ranking is often a key component in delivering sophisticated personalization results. Commonly, supervised learning-to-rank methods are applied, which…

People feel attached to places that are meaningful to them, which psychological research calls "place attachment." Place attachment is associated with self-identity, self-continuity, and psychological well-being. Even small cues, including…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

LinkGlide-S is a novel wearable hand-worn tactile display to deliver multi-contact and multi-modal stimuli at the user's palm.} The array of inverted five-bar linkages generates three independent contact points to cover the whole palm area.…

The main objective of this study is to investigate whether one can use recordings of human-to-human touch, such as a caress, to improve tactile apparent motion interfaces to make them feel more natural. We report here preliminary recordings…

Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…

Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer…

This paper, for the first time, presents a terrain-based localization approach using sensor data from an active suspension system. The contribution is four-fold. First, it is shown that a location dependent road height profile can be…

Affective computing is a field of great interest in many computer vision applications, including video surveillance, behaviour analysis, and human-robot interaction. Most of the existing literature has addressed this field by analysing…