Related papers: Exploring Interference between Concurrent Skin Str…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…
Human softness perception in haptics has mainly been studied using mechanically homogeneous objects, despite the fact that many real-world objects exhibit heterogeneous layered structures with nonuniform stiffness. This study examined how…
This paper introduces a motion retargeting method that preserves self-contacts and prevents interpenetration. Self-contacts, such as when hands touch each other or the torso or the head, are important attributes of human body language and…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
Estimating human pose, classifying actions, and predicting movement progress are essential for human-robot interaction. While vision-based methods suffer from occlusion and privacy concerns in realistic environments, tactile sensing avoids…
This paper investigates how visual texture presentation influences tactile perception when interacting with electrostatic cloth displays. We propose a visuo-haptic system that allows users to pinch and rub virtual fabrics while feeling…
An accurate estimate of limb position is necessary for movement. Where we localize our unseen hand after a reach depends on felt hand position, or proprioception, but often only predicted sensory consequences based on efference copies of…
Tactile perception is an increasingly popular gateway in human-machine interaction, yet universal design guidelines for tactile displays are still lacking, largely due to the absence of methods to measure sensibility across skin areas. In…
While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySkin addresses the critical challenges that impede the use of…
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact detection and…
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Perception (IP). It provides the following benefits: (i)…
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
Wearables activity trackers are becoming widely adopted to understand individual behavior. Understanding behavior may help in self-regulation such as self-monitoring, goal-setting, self-corrective, etc.; Nevertheless, challenges exist in…
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…
In medicolegal situations, the consequences of a stabbing incident are described in terms that are qualitative without being quantitative. Here, the mechanical variables involved in knife-tissue penetration events are used to determine the…
Understanding and respecting personal space preferences is essential for socially assistive robots designed for older adult users. This work introduces and evaluates a novel personalized context-aware method for modeling users' proxemics…