Related papers: MagicGel: A Novel Visual-Based Tactile Sensor Desi…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
Tactile sensing provides local essential information that is complementary to visual perception, such as texture, compliance, and force. Despite recent advances in visuotactile representation learning, challenges remain in fusing these…
Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
Tactile sensing typically involves active exploration of unknown surfaces and objects, making it especially effective at processing the characteristics of materials and textures. A key property extracted by human tactile perception is…
Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution…
Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with…
Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer…
Sensory substitution has influenced the design of many tactile visual substitution systems with the aim of offering visual aids for the blind. This paper focuses on whether a novel electromagnetic vibrotactile display, a four by four…
Vibrotactile signals offer new possibilities for conveying sensations and emotions in various applications. Yet, designing vibrotactile tactile icons (i.e., Tactons) to evoke specific feelings often requires a trial-and-error process and…
Predicting the future interaction of objects when they come into contact with their environment is key for autonomous agents to take intelligent and anticipatory actions. This paper presents a perception framework that fuses visual and…
Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
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,…