Related papers: Identifying the differences between 3 dimensional …
Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…
It is challenging to grasp numerous objects with varying sizes and shapes with a single robot hand. To address this, we propose a new robot hand called the 'F3 hand' inspired by the complex movements of human index finger and thumb. The F3…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Wearable e-textile interfaces require gesture recognition capabilities but face severe constraints in power consumption, computational capacity, and form factor that make traditional deep learning impractical. While lightweight…
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, an open-source wearable tactile glove…
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…
A key challenge in robotic food manipulation is modeling the material properties of diverse and deformable food items. We propose using a multimodal sensory approach to interact and play with food that facilitates the ability to distinguish…
The embedded sensors in widely used smartphones and other wearable devices make the data of human activities more accessible. However, recognizing different human activities from the wearable sensor data remains a challenging research…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
The last few decades have witnessed an emerging trend of wearable soft sensors; however, there are important signal-processing challenges for soft sensors that still limit their practical deployment. They are error-prone when displaced,…
Dynamic hand tracking and gesture recognition is a hard task since there are many joints on the fingers and each joint owns many degrees of freedom. Besides, object occlusion is also a thorny issue in finger tracking and posture…
Wearables like smartwatches or wrist bands equipped with pervasive sensors enable us to monitor our physiological signals. In this study, we address the question whether they can help us to recognize our emotions in our everyday life for…
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…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
Natural user interfaces are on the rise. Manufacturers for Augmented, Virtual, and Mixed Reality head mounted displays are increasingly integrating new sensors into their consumer grade products, allowing gesture recognition without…
Dexterous robotic hands require high-speed multimodal sensing across many degrees of freedom, yet existing readout architectures often impose trade-offs between sensor count, wiring complexity, and sampling bandwidth. This paper presents a…
This paper uses clustering algorithms to introduce a shape framework for deformable objects. Until now, the shape detection of the deformable objects has faced several challenges: 1) unable to form a unified framework for multiple shapes;…
We introduce a novel shape-sensing method using Resistive Flex Sensors (RFS) embedded in cable-driven Continuum Dexterous Manipulators (CDMs). The RFS is predominantly sensitive to deformation rather than direct forces, making it a…
As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…