Related papers: Presenting the cyclotactor project
Vision-based tactile sensing has been widely used in perception, reconstruction, and robotic manipulation. However, collecting large-scale tactile data remains costly due to the localized nature of sensor-object interactions and…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…
Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
Command injection and replay attacks are key threats in Cyber Physical Systems (CPS). We develop a novel actuator fingerprinting technique named Time Constant. Time Constant captures the transient dynamics of an actuator and physical…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
We present HapTable; a multimodal interactive tabletop that allows users to interact with digital images and objects through natural touch gestures, and receive visual and haptic feedback accordingly. In our system, hand pose is registered…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
Touch is one of the most intuitive ways for humans to interact with the world, and as we advance toward a ubiquitous computing environment where technology seamlessly integrates into daily life, natural interaction methods are essential.…
In this research, modeling and analysis of a beam-type touchscreen interface with multiple actuators is considered. As thin beams, a mechanical model of a touch screen system is developed with embedded electrostatic actuators at different…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…
Enabling robots with contact-rich manipulation remains a pivotal challenge in robot learning, which is substantially hindered by the data collection gap, including its inefficiency and limited sensor setup. While prior work has explored…
Most existing locomotion devices that represent the sensation of walking target a user who is actually performing a walking motion. Here, we attempted to represent the walking sensation, especially a kinesthetic sensation and advancing…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…