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Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
There is a large population of wheelchair users. Most of the wheelchair users need help with daily tasks. However, according to recent reports, their needs are not properly satisfied due to the lack of caregivers. Therefore, in this…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
The established way of interfacing with most computer systems is a mouse and keyboard. Hand gestures are an intuitive and effective touchless way to interact with computer systems. However, hand gesture based systems have seen low adoption…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
Free-hand dental procedures are typically repetitive, time-consuming and require high precision and manual dexterity. Robots can play a key role in improving procedural accuracy and safety, enhancing patient comfort, and reducing operator…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
The quality of a simulator equipped with a haptic interface is given by the dynamical properties of its components: haptic interface, simulator and control system. Some application areas of such kind of simulator like musical synthesis,…
Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still…
Robots are expected to grasp a wide range of objects varying in shape, weight or material type. Providing robots with tactile capabilities similar to humans is thus essential for applications involving human-to-robot or robot-to-robot…
In this research, we have developed a haptic situational awareness device that presents users with directional cues through continuous vibrotactile sensations. Using the device, we present user studies on the effectiveness of a…
This paper brings into discussion some of the most relevant technological challenges involving haptic systems in medical education. One of these challenges is choosing the suitable haptic hardware, API or framework for developing a…
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…