Related papers: A multi-modal approach to continuous material iden…

The thermal properties of a material with a spatio-temporal modulation in both the thermal conductivity and the mass density are studied. The special configuration studied here consists of a modulation in a wave-like fashion. It is found…

Cross-Modal Retrieval (CMR), which retrieves relevant items from one modality (e.g., audio) given a query in another modality (e.g., visual), has undergone significant advancements in recent years. This capability is crucial for robots to…

In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…

Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…

This work contributes to the development of active haptic exploration strategies of surfaces using robotic hands in environments with an unknown structure. The architecture of the proposed approach consists two main Bayesian models,…

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…

Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…

Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…

To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…

In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…

Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

This paper presents an efficient Multi-scale Transformer-based approach for the task of Emotion recognition from Physiological data, which has gained widespread attention in the research community due to the vast amount of information that…

With the development of VR technology, especially the emergence of the metaverse concept, the integration of visual and tactile perception has become an expected experience in human-machine interaction. Therefore, achieving spatial-temporal…

In this paper we present a method to identify people by means of thermal (TH) and visible (VIS) hand images acquired simultaneously with a TESTO 882-3 camera. In addition, we also present a new database specially acquired for this work. The…

Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…

We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…

The impulse response of a flame to acoustic velocity perturbations is a key quantity for predicting thermoacoustic stability, but its identification from sparse, noisy observations requires solving an ill-posed inverse convolution problem.…

Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…