Related papers: Grasping Force Estimation for Markerless Visuotact…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However,…
Objective: This paper proposes a novel type of stimulus in the shape of sinusoidal gratings displayed with an imperceptibly high-frequency motion. The stimulus has been designed for use in BCI (Brain Computer Interface) applications that…
We present a benchmarking study of vision-based robotic grasping algorithms and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing benchmarking protocol from…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
In-vivo tissue stiffness identification can be useful in pulmonary fibrosis diagnostics and minimally invasive tumor identification, among many other applications. In this work, we propose a palpation-based method for tissue stiffness…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
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…
Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been…
Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interaction with the environment. In particular, tactile sensing is…
The vertical ground reaction force (vGRF) and its characteristic weight acceptance and push-off peaks measured during walking are important for gait and biomechanical analysis. Current wearable vGRF estimation methods suffer from drifting…
People often interact with their surroundings by applying pressure with their hands. While hand pressure can be measured by placing pressure sensors between the hand and the environment, doing so can alter contact mechanics, interfere with…
Manipulation without grasping, known as non-prehensile manipulation, is essential for dexterous robots in contact-rich environments, but presents many challenges relating with underactuation, hybrid-dynamics, and frictional uncertainty.…
Compliance is a critical parameter for describing objects in engineering, agriculture, and biomedical applications. Traditional compliance detection methods are limited by their lack of portability and scalability, rely on specialized,…
Real-time marker-less hand tracking is of increasing importance in human-computer interaction. Robust and accurate tracking of arbitrary hand motion is a challenging problem due to the many degrees of freedom, frequent self-occlusions, fast…
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…
Object 6D pose estimation is a critical challenge in robotics, particularly for manipulation tasks. While prior research combining visual and tactile (visuotactile) information has shown promise, these approaches often struggle with…
The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…
The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right…