Related papers: Enabling Tactile Feedback for Robotic Strawberry H…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
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…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Electrovibration technology enables tactile texture rendering on capacitive touchscreens by modulating friction between the finger and the screen through electrostatic attraction forces, generated by applying an alternating voltage signal…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…
Skin-like tactile sensors provide robots with rich feedback related to the force distribution applied to their soft surface. The complexity of interpreting raw tactile information has driven the use of machine learning algorithms to convert…
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…
The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…
For robot touch to converge with the human sense of touch, artificial transduction should involve biologically-plausible population codes analogous to those of natural afferents. Using a biomimetic tactile sensor with 3d-printed skin based…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
Tactile sensing is an essential modality for smart robots as it enables them to interact flexibly with physical objects in their environment. Recent advancements in electronic skins have led to the development of data-driven machine…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
Hand-face interactions play a key role in many everyday tasks, providing insights into user habits, behaviors, intentions, and expressions. However, existing wearable sensing systems often struggle to track these interactions in daily…
Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…
Physical human-robot interaction (pHRI) remains a key challenge for achieving intuitive and safe interaction with robots. Current advancements often rely on external tactile sensors as interface, which increase the complexity of robotic…
The strawberry farming is labor-intensive, particularly in tasks requiring dexterous manipulation such as picking occluded strawberries. To address this challenge, we present the Strawberry Robotic Operation Interface (SROI), an open-source…
Contact-rich manipulation depends on applying the correct grasp forces throughout the manipulation task, especially when handling fragile or deformable objects. Most existing imitation learning approaches often treat visuotactile feedback…