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Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an…
Matching contactless fingerprints or finger photos to contact-based fingerprint impressions has received increased attention in the wake of COVID-19 due to the superior hygiene of the contactless acquisition and the widespread availability…
We explore the feasibility of AI assisted hand-gesture recognition using 802.11ad 60GHz (mmWave) technology in smartphones. Range-Doppler information (RDI) is obtained by using pulse Doppler radar for gesture recognition. We built a…
In phase retrieval, the goal is to recover a complex signal from the magnitude of its linear measurements. While many well-known algorithms guarantee deterministic recovery of the unknown signal using i.i.d. random measurement matrices,…
This study proposes a sensing method using a millimeter-wave array radar and a depth camera to measure pulse waves at multiple sites on the human body. Using a three-dimensional shape model of the target human body measured by the depth…
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…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
This review presents a comprehensive survey and benchmark of pulse shape discrimination (PSD) algorithms for radiation detection, classifying nearly sixty methods into statistical (time-domain, frequency-domain, neural network-based) and…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
In modern on-driving computing environments, many sensors are used for context-aware applications. This paper utilizes two deep learning models, U-Net and EfficientNet, which consist of a convolutional neural network (CNN), to detect hand…
Teeth gestures become an alternative input modality for different situations and accessibility purposes. In this paper, we present TeethTap, a novel eyes-free and hands-free input technique, which can recognize up to 13 discrete teeth…
We propose depth from coupled optical differentiation, a low-computation passive-lighting 3D sensing mechanism. It is based on our discovery that per-pixel object distance can be rigorously determined by a coupled pair of optical…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
This study introduces a dual-band plasmonic absorber designed for simultaneous sensing applications in the near-infrared (NIR) and mid-infrared (MIR) regions. The absorber, composed of silver nanostructures on a metal plate with a…
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…
We present an algorithm for the simultaneous measurement of a pulse time-of-arrival (TOA) and dispersion measure (DM) from folded wideband pulsar data. We extend the prescription from Taylor (1992) to accommodate a general two-dimensional…
Optically pumped magnetometers (OPMs) have emerged as a powerful technique for high-resolution magnetic field imaging. However, achieving sub-millimeter spatial resolution at sub-picotesla sensitivities ($\mathrm{< 1\,pT/\sqrt{Hz}}$)…