Related papers: Optical skin: Sensor-integration-free multimodal f…
Our experience of the world is multisensory, spanning a synthesis of language, sight, sound, touch, taste, and smell. Yet, artificial intelligence has primarily advanced in digital modalities like text, vision, and audio. This paper…
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…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…
This paper presents a neuromorphic, event-driven tactile sensing system for soft, large-area skin, based on the Dynamic Vision Sensors (DVS) integrated with a flexible silicone optical waveguide skin. Instead of repetitively scanning…
Abstract: Bionic learning with fused sensing, memory and processing functions outperforms artificial neural networks running on silicon chips in terms of efficiency and footprint. However, digital hardware implementation of bionic learning…
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…
This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…
We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…
Tactile sensing typically involves active exploration of unknown surfaces and objects, making it especially effective at processing the characteristics of materials and textures. A key property extracted by human tactile perception is…
Using the complementary wave- and particle-like natures of photons, it is possible to make ``interaction-free'' measurements where the presence of an object can be determined with no photons being absorbed. We investigated several…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel…
As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of…
IoT sensors are crucial for visualizing multidimensional and multimodal information and enabling future IT applications/services such as cyber-physical space, digital twins, autonomous driving, smart cities, and virtual/augmented reality…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…