Related papers: SENS3: Multisensory Database of Finger-Surface Int…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
We propose a fully automatic method for learning gestures on big touch devices in a potentially multi-user context. The goal is to learn general models capable of adapting to different gestures, user styles and hardware variations (e.g.…
Hand gesture recognition has been granted as one of the emerging fields in research today providing a natural way of communication between man and a machine. Gestures are some forms of body motions which a person expresses when doing a work…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…
This paper presents T3: Transferable Tactile Transformers, a framework for tactile representation learning that scales across multi-sensors and multi-tasks. T3 is designed to overcome the contemporary issue that camera-based tactile sensing…
The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across…
Human-computer interaction relies on mouse/touchpad, keyboard, and screen, but tools have recently been developed that engage sound, smell, touch, muscular resistance, voice dialogue, balance, and multiple senses at once. How might these…
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…
3D human pose estimation in outdoor environments has garnered increasing attention recently. However, prevalent 3D human pose datasets pertaining to outdoor scenes lack diversity, as they predominantly utilize only one type of modality (RGB…
The way we engage with digital spaces and the digital world has undergone rapid changes in recent years, largely due to the emergence of the Metaverse. As technology continues to advance, the demand for sophisticated and immersive…
Grasping and manipulating objects is an important human skill. Since hand-object contact is fundamental to grasping, capturing it can lead to important insights. However, observing contact through external sensors is challenging because of…
This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…
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…
Today's legal restrictions that protect the privacy of biometric data are hampering fingerprint recognition researches. For instance, all high-resolution fingerprint databases ceased to be publicly available. To address this problem, we…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Humans naturally interact with both others and the surrounding multiple objects, engaging in various social activities. However, recent advances in modeling human-object interactions mostly focus on perceiving isolated individuals and…