Related papers: Touch2Touch: Cross-Modal Tactile Generation for Ob…

This study presents a novel approach for touch sensing using semi-elastic textile surfaces that does not require the placement of additional sensors in the sensing area, instead relying on sensors located on the border of the textile. The…

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…

Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the…

Inspired by the strong ties between vision and language, the two intimate human sensing and communication modalities, our paper aims to explore the generation of 3D human full-body motions from texts, as well as its reciprocal task,…

We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…

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…

Diffusion models when conditioned on text prompts, generate realistic-looking images with intricate details. But most of these pre-trained models fail to generate accurate images when it comes to human features like hands, teeth, etc. We…

Speech-driven gesture synthesis is a field of growing interest in virtual human creation. However, a critical challenge is the inherent intricate one-to-many mapping between speech and gestures. Previous studies have explored and achieved…

Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to…

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…

The airborne ultrasound tactile display can present tactile information without direct contact. Using this technology, we developed two methods for simulating the tactile sensation of tapping an object with a finger: the Amplitude…

In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of objects with visual perception and, later on, it is able to…

Self-touch gestures (e.g., nuanced facial touches and subtle finger scratches) provide rich insights into human behaviors, from hygiene practices to health monitoring. However, existing approaches fall short in detecting such micro gestures…

We present BubbleTouch, an open source quasi-static simulator for robotic tactile skins. BubbleTouch can be used to simulate contact with a robot's tactile skin patches as it interacts with humans and objects. The simulator creates detailed…

In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…

Recent generative models can synthesize high-quality images, but they often fail to generate humans interacting with objects using their hands. This arises mostly from the model's misunderstanding of such interactions and the hardships of…

Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…

We propose a new framework for gesture generation, aiming to allow data-driven approaches to produce more semantically rich gestures. Our approach first predicts whether to gesture, followed by a prediction of the gesture properties. Those…

Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…

Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…