Related papers: ALTo: Ad Hoc High-Accuracy Touch Interaction Using…
In this paper, we present an acoustic localization system for multiple devices. In contrast to systems which localise a device relative to one or several anchor points, we focus on the joint localisation of several devices relative to each…
In this communication, we present a high resolution tactile plate that can localize one or two contact fingers. The localization principle is based on Lamb wave absorption. Fingers' contact will generate absorption signals while Lamb waves…
This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in…
The analysis of high-dimensional sparse data is becoming increasingly popular in many important domains. However, real-world sparse tensors are challenging to process due to their irregular shapes and data distributions. We propose the…
Sensing touch on arbitrary surfaces has long been a goal of ubiquitous computing, but often requires instrumenting the surface. Depth camera-based systems have emerged as a promising solution for minimizing instrumentation, but at the cost…
We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles. The dataset is composed of two long (approximately 150km and…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
We propose a cloud-based multimodal dialog platform for the remote assessment and monitoring of Amyotrophic Lateral Sclerosis (ALS) at scale. This paper presents our vision, technology setup, and an initial investigation of the efficacy of…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…
The advent of autonomous agents is transforming interactions with Graphical User Interfaces (GUIs) by employing natural language as a powerful intermediary. Despite the predominance of Supervised Fine-Tuning (SFT) methods in current GUI…
Most existing assistive navigation tools focus on providing real-time guidance for Blind and Low-Vision (BLV) people, but few support building a holistic spatial understanding of unfamiliar environments before travel. Such cognitive map…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…
This work introduces alternating latent topologies (ALTO) for high-fidelity reconstruction of implicit 3D surfaces from noisy point clouds. Previous work identifies that the spatial arrangement of latent encodings is important to recover…
Acoustic local positioning systems (ALPSs) are an interesting alternative for indoor positioning due to certain advantages over other approaches, including their relatively high accuracy, low cost, and room-level signal propagation.…
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
Beyond a simple notification of incoming calls or messages, more complex information such as alphabets and digits can be delivered through spatiotemporal tactile patterns (STPs) on a wrist-worn tactile display (WTD) with multiple tactors.…