Related papers: Learned Slip-Detection-Severity Framework using Ta…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
This paper proposes a robust method for fault detection and severity estimation in multivariate time-series data to enhance predictive maintenance of mechanical systems. We use the Temporal Graph Convolutional Network (T-GCN) model to…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…
Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EIT-based tactile sensors face significant challenges during…
Personalized fall detection models can significantly improve accuracy by adapting to individual motion patterns, yet their effectiveness is often limited by the scarcity of real-world fall data and the dominance of non-fall feedback…
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tactile sensors realize high-resolution, large-area tactile…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
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.…
Falling is a commonly occurring mishap with elderly people, which may cause serious injuries. Thus, rapid fall detection is very important in order to mitigate the severe effects of fall among the elderly people. Many fall monitoring…
Tactile sensing is critical for learning-based dexterous manipulation, yet principled guidelines for sensor placement remain largely absent. While dense sensor arrays provide rich contact feedback, they impose significant hardware costs and…
In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…
We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach does not require an update of the spatial data structure when…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Lidar-based SLAM systems are highly sensitive to adverse conditions such as occlusion, noise, and field-of-view (FoV) degradation, yet existing robustness evaluation methods either lack physical grounding or do not capture sensor-specific…
Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) offer high local resolution but require…
Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…