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Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…
This report presents the experimental methodology and a step-by-step guide for gathering data on how aging influences tactile surface perception in decision and action. The experiments consist of a set of trials in which the ability to…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Touch is an important channel for human-robot interaction, while it is challenging for robots to recognize human touch accurately and make appropriate responses. In this paper, we design and implement a set of large-format distributed…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
Biosensors and wearable sensor systems with transmitting capabilities are currently developed and used for the monitoring of health data, exercise activities, and other performance data. Unlike conventional approaches, these devices enable…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
Increasing individuals' awareness of their own body signals can lead to improved interoception, enabling the brain to estimate current body states more accurately and in a timely manner. However, certain body signals, such as eye movements,…
Capturing accurate 3D human pose in the wild would provide valuable data for training pose estimation and motion generation methods. While video-based estimation approaches have become increasingly accurate, they often fail in common…
Accurate recognition of human emotions is critical for adaptive human-computer interaction, yet remains challenging in dynamic, conversation-like settings. This work presents a personality-aware multimodal framework that integrates…
For some years now, the use of social, anthropomorphic robots in various situations has been on the rise. These are robots developed to interact with humans and are equipped with corresponding extremities. They already support human users…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
In this paper we present a preliminary study for designing interactive systems that are sensible to human emotions based on the body movements. To do so, we first review the literature on the various approaches for defining and…
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…
Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer…
Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…
In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…
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…