Related papers: One-press control: a tactile input method for pres…
We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the operator from contact forces, which hinders the…
Reinforcement Learning (RL) methods have been widely applied for robotic manipulations via sim-to-real transfer, typically with proprioceptive and visual information. However, the incorporation of tactile sensing into RL for contact-rich…
Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…
Three-dimensional (3D) applications have come to every corner of life. We present 3DTouch, a novel 3D wearable input device worn on the fingertip for interacting with 3D applications. 3DTouch is self-contained, and designed to universally…
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbitrary grasp types, including power grasps with…
We study the performance and user experience of two popular mainstream text entry devices, desktop keyboards and touchscreen keyboards, for use in Virtual Reality (VR) applications. We discuss the limitations arising from limited visual…
The ability to associate touch with other modalities has huge implications for humans and computational systems. However, multimodal learning with touch remains challenging due to the expensive data collection process and non-standardized…
It is human to want to touch artworks, to feel their surface curvature and texture, their shapes and structures, and to feel the hand of the artist. Museum guards need to be constantly vigilant to protect art objects from adoring and…
For getting good sleep quality, an improved approach of new mattress development based on the pressure sensors for body-contouring uniform support is proposed in this paper. This method solved the problems of innerspring mattresses that…
Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…
We present a novel method for learning hybrid force/position control from demonstration. We learn a dynamic constraint frame aligned to the direction of desired force using Cartesian Dynamic Movement Primitives. In contrast to approaches…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
This paper proposed a novel method to replace the traditional mouse controller by using Microsoft Kinect Sensor to realize the functional implementation on human-machine interaction. With human hand gestures and movements, Kinect Sensor…
A closed-loop control of a reaction-diffusion type process is introduced. The control system consist of a finite number of control and measurement devices. The measurement devices collect information about the current state of the process.…
Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of small objects. This work proposed a framework for end-to-end…
We present advancements in the design and development of in-vehicle infotainment systems that utilize gesture input and ultrasonic mid-air haptic feedback. Such systems employ state-of-the-art hand tracking technology and novel haptic…
A wide range of haptic feedback is crucial for achieving high realism and immersion in virtual environments. Therefore, a multi-modal haptic interface that provides various haptic signals simultaneously is highly beneficial. This paper…
One of the open questions in the field of interaction design is "what inputs or interaction techniques should be used with augmented reality devices?" The transition from a touchpad and a keyboard to a multi-touch device was relatively…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel cross-policy visuo-tactile fusion paradigm that fuses…