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Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a…
We study the acoustic-induced interactions between a pair of identical elastic plates perforated with periodical structures. Tremendous mutual forces, both repulsions and attractions, have been observed in subwavelength regime. The dramatic…
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
Since most software systems provide their users with interactive features, building user interfaces (UI) is one of the core software engineering tasks. It consists in designing, implementing and testing ever more sophisticated and versatile…
Creating music is iterative, requiring varied methods at each stage. However, existing AI music systems fall short in orchestrating multiple subsystems for diverse needs. To address this gap, we introduce Loop Copilot, a novel system that…
The availability of interaction devices has raised interest in techniques to support the user interface (UI). A UI specification describes the functions that a system provides to its users by capturing the interface details and includes…
Have you ever typed particularly powerful on your keyboard, maybe even harsh, to write and send a message with some emphasis of your emotional state or message? Did it work? Probably not. It didn't affect how you typed or interacted with…
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…
As far as music is concerned, instruments have always been part of a cultural ?landscape? (on technical, expressive and symbolic levels). The present contribution explores the changes brought about by the shift that occurred during the 20th…
Humans interact with an object in many different ways by making contact at different locations, creating a highly complex motion space that can be difficult to learn, particularly when synthesizing such human interactions in a controllable…
Technology can facilitate self-learning for academic and leisure activities such as music learning. In general, learning to play an unknown musical song at sight on the electric piano or any other instrument can be quite a chore. In a…
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing forces across…
The system presented here shows the feasibility of modeling the knowledge involved in a complex musical activity by integrating sub-symbolic and symbolic processes. This research focuses on the question of whether there is any advantage in…
We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system designed to enhance robotic manipulation with dense and physically accurate tactile feedback. In contrast to prior tactile simulators which primarily focus…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
We illustrate the geometric phase associated with the cyclic dynamics of a classical system of coupled oscillators. We use an analogy between a classical coupled oscillator and a two-state quantum mechanical system to represent the…
Spatialized vibrotactile feedback systems deliver tactile information by placing multiple vibrotactile actuators on the body. As increasing numbers of actuators are required to adequately convey information in complicated applications,…