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Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the…
The integration of visual-tactile stimulus is common while humans performing daily tasks. In contrast, using unimodal visual or tactile perception limits the perceivable dimensionality of a subject. However, it remains a challenge to…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact…
While visual and auditory information are prevalent in modern multimedia systems, haptic interaction, e.g., tactile and kinesthetic interaction, provides a unique form of human perception. However, multimedia technology for contact…
Autonomous vehicles (AVs) rely on multi-modal fusion for safety, but current visual and optical sensors fail to detect road-induced excitations which are critical for vehicles' dynamic control. Inspired by human synesthesia, we propose the…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the…
We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…
Predicting the future interaction of objects when they come into contact with their environment is key for autonomous agents to take intelligent and anticipatory actions. This paper presents a perception framework that fuses visual and…
Visuo-tactile perception aims to understand an object's tactile properties, such as texture, softness, and rigidity. However, the field remains underexplored because collecting tactile data is costly and labor-intensive. We observe that…
Current Virtual Reality (VR) environments lack the rich haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
In the pursuit of deeper immersion in human-machine interaction, achieving higher-dimensional tactile input and output on a single interface has become a key research focus. This study introduces the Visual-Electronic Tactile (VET) System,…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…