Related papers: Touch Sensing on Semi-Elastic Textiles with Border…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…
This is the preprint version of our paper on IEEE Virtual Reality Conference 2015. A touch-less interaction technology on vision based wearable device is designed and evaluated. Users interact with the application with dynamic hands/feet…
In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling.…
In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the…
In wearable smart systems, continuous monitoring and accurate classification of different sleep-related conditions are critical for enhancing sleep quality and preventing sleep-related chronic conditions. However, the requirements for…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
In this thesis a new approach for touch detection on optical multi-touch devices is proposed that exploits the fact that the camera images reveal not only the actual touch points but also objects above the screen such as the hand or arm of…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
In this research, we aim to realize cushion interface for operating smart home. We designed user-defined gestures using cushion and developed gesture recognition system. We asked some users to make gestures using cushions for operating home…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…
We propose Texture Edge detection using Patch consensus (TEP) which is a training-free method to detect the boundary of texture. We propose a new simple way to identify the texture edge location, using the consensus of segmented local patch…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In this paper, we propose Taxim, a realistic and…
Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…
Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…