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Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
We report the first active acoustic side-channel attack. Speakers are used to emit human inaudible acoustic signals and the echo is recorded via microphones, turning the acoustic system of a smart phone into a sonar system. The echo signal…
Gesture recognition has become increasingly important in human-computer interaction and can support different applications such as smart home, VR, and gaming. Traditional approaches usually rely on dedicated sensors that are worn by the…
Previous work has shown that the addition of haptic feedback to the hands can improve awareness of tool-tissue interactions and enhance performance of teleoperated tasks in robot-assisted minimally invasive surgery. However, hand-based…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
Optical see-through augmented reality (OST-AR) overlays digital targets and annotations on the physical world, offering promising guidance for hands-on tasks such as medical needle insertion or assembly. Recent work on OST-AR depth…
Augmented reality devices have the potential to enhance human perception and enable other assistive functionalities in complex conversational environments. Effectively capturing the audio-visual context necessary for understanding these…
Expression recognition holds great promise for applications such as content recommendation and mental healthcare by accurately detecting users' emotional states. Traditional methods often rely on cameras or wearable sensors, which raise…
In this paper, we propose four continuous authentication designs by using the characteristics of arm movements while individuals walk. The first design uses acceleration of arms captured by a smartwatch's accelerometer sensor, the second…
Universal jamming grippers excel at grasping unknown objects due to their compliant bodies. Traditional tactile sensors can compromise this compliance, reducing grasping performance. We present acoustic sensing as a form of morphological…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
The surging popularity of home assistants and their voice user interface (VUI) have made them an ideal central control hub for smart home devices. However, current form factors heavily rely on VUI, which poses accessibility and usability…
In this study, we present a wireless (non-contact) gesture recognition method using only incoherent light wave signals reflected from a human subject. In comparison to existing radar, light shadow, sound and camera-based sensing systems,…
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
Mobile applications are widely used for online services sharing a large amount of personal data online. One-time authentication techniques such as passwords and physiological biometrics (e.g., fingerprint, face, and iris) have their own…
In recent years, deep learning techniques have been used to develop sign language recognition systems, potentially serving as a communication tool for millions of hearing-impaired individuals worldwide. However, there are inherent…
This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…
Worldwide 2019 million people have been infected and 4.5 million have lost their lives in the ongoing Covid-19 pandemic. Until vaccines became widely available, precautions and safety measures like wearing masks, physical distancing,…
Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In…