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Tactile perception is essential for embodied agents to understand physical attributes of objects that cannot be determined through visual inspection alone. While existing approaches have made progress in visual and language modalities for…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
This paper presents a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects. In particular, we propose the use of electrotactile feedback to render the interpenetration distance…
This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the…
Autonomous vehicles (AVs) require comprehensive and reliable pedestrian trajectory data to ensure safe operation. However, obtaining data of safety-critical scenarios such as jaywalking and near-collisions, or uncommon agents such as…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the operator from contact forces, which hinders the…
Existing methods of haptic feedback for virtual fluids are challenging to scale, lack durability for long-term rough use, and fail to fully capture the expressive haptic qualities of fluids. To overcome these limitations, we present…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
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…
Gesture recognition is essential for the interaction of autonomous vehicles with humans. While the current approaches focus on combining several modalities like image features, keypoints and bone vectors, we present neural network…
In recent years, virtual sensing techniques have been extensively studied as a method of data collection in simulated virtual spaces for the development of human activity recognition (HAR) systems. To date, this technique has enabled the…
Tangible interactions involve multiple sensory cues, enabling the accurate perception of object properties, such as size. Research has shown, however, that if we decouple these cues (for example, by altering the visual cue), then the…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Vision-based tactile sensors encode object data via optical signals, capturing microscale deformations using elastomer through densely arranged optical imaging sensors to detect subtle data variations. To enable continuous contact…
High-fidelity haptic feedback is essential for immersive virtual environments, yet authoring realistic tactile textures remains a significant bottleneck for designers. We introduce HapticMatch, a visual-to-tactile generation framework…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural…