Related papers: SENS3: Multisensory Database of Finger-Surface Int…
We introduce HOT3D, a publicly available dataset for egocentric hand and object tracking in 3D. The dataset offers over 833 minutes (3.7M+ images) of recordings that feature 19 subjects interacting with 33 diverse rigid objects. In addition…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Human computer interaction facilitates intelligent communication between humans and computers, in which gesture recognition plays a prominent role. This paper proposes a machine learning system to identify dynamic gestures using tri-axial…
Haptic feedback has been integrated into Virtual and Augmented Reality, complementing acoustic and visual information and contributing to an all-round immersive experience in multiple fields, spanning from the medical domain to…
Mixed Reality (MR) enables rich, embodied collaboration; however, it is uncertain whether sensor- and system-logged behavioral signals capture how users experience that collaboration. This disconnect stems from a fundamental gap. Behavioral…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
As an emerging interaction paradigm, physiological computing is increasingly being used to both measure and feed back information about our internal psychophysiological states. While most applications of physiological computing are designed…
Recent advancements in deep learning, computer vision, and embodied AI have given rise to synthetic causal reasoning video datasets. These datasets facilitate the development of AI algorithms that can reason about physical interactions…
Humans inhabit a world defined by interactions -- with other humans, objects, and environments. These interactive movements not only convey our relationships with our surroundings but also demonstrate how we perceive and communicate with…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Knowledge creation occurs in the process of social interaction. As our service-based society is evolving into a knowledge-based society there is an acute need for more effective collaboration and knowledge-sharing systems to be used by…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
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…
Social touch provides a rich non-verbal communication channel between humans and robots. Prior work has identified a set of touch gestures for human-robot interaction and described them with natural language labels (e.g., stroking,…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
This study mainly explores the application of natural gesture recognition based on computer vision in human-computer interaction, aiming to improve the fluency and naturalness of human-computer interaction through gesture recognition…
Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…