Related papers: Mapping Mid-air Haptics with a Low-cost Tactile Ro…
Children diagnosed with anxiety disorders are taught a range of strategies to navigate situations of heightened anxiety. Techniques such as deep breathing and repetition of mantras are commonly employed, as they are known to be calming and…
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTIF hand, a novel multimodal and versatile…
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…
Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the…
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…
A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the…
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic operations, proposing great potential for enhancing user…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
Walking is among the most common human activities where the feet can gather rich tactile information from the ground. The dynamic contact between the feet and the ground generates vibration signals that can be sensed by the foot skin. While…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
In a typical mid-air haptics system, focused airborne ultrasound provides vibrotactile sensations to localized areas on a bare skin. Herein, a method for displaying thermal sensations to hands where mesh fabric gloves are worn is proposed.…
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 represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Ultrasound midair haptics (UMH) can present non-contact tactile stimuli using focused ultrasound without any wearables. Recently, UMH has been shown to present not only conventional vibration stimulus but also static pressure stimulus by…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…
Mid-air ultrasound technology offers new design opportunities for contactless tactile patterns (i.e., Tactons) in user applications. Yet, few guidelines exist for making ultrasound Tactons easy to distinguish for users. In this paper, we…