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Haptic displays play an important role in enhancing the sense of presence in VR and telepresence. Displaying the tactile properties of fabrics has potential in the fashion industry, but there are difficulties in dynamically displaying…

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…

In garment manufacturing, an automatic sewing machine is desirable to reduce cost. To accomplish this, a high speed vision system is required to track fabric motions and recognize repetitive weave patterns with high accuracy, from a micro…

Texture is intuitively defined as a repeated arrangement of a basic pattern or object in an image. There is no mathematical definition of a texture though. The human visual system is able to identify and segment different textures in a…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Sensor-based activity recognition seeks the profound high-level knowledge about human activities from multitudes of low-level sensor readings. Conventional pattern recognition approaches have made tremendous progress in the past years.…

In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…

3D generation methods have shown visually compelling results powered by diffusion image priors. However, they often fail to produce realistic geometric details, resulting in overly smooth surfaces or geometric details inaccurately baked in…

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…

The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…

Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects…

To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…

The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy…

The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require…

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.…

Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…

Tactile sensing has been used for a variety of robotic exploration and manipulation tasks but a common constraint is a requirement for a large amount of training data. This paper addresses the issue of data-efficiency by proposing a novel…