Related papers: Vision-Based Force Estimation for Minimally Invasi…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the…
External contact force is one of the most significant information for the robots to model, control, and safely interact with external objects. For continuum robots, it is possible to estimate the contact force based on the measurements of…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further…
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…
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such trajectories are unsuitable for delicate grasping, which require…