Related papers: Estimating Perceptual Attributes of Haptic Texture…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However,…
In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of objects with visual perception and, later on, it is able to…
Haptic feedback contributes to immersive virtual reality (VR) experiences. However, designing such feedback at scale for all objects within a VR scene remains time-consuming. We present Scene2Hap, an LLM-centered system that automatically…
Tactile sensing or fabric hand plays a critical role in an individual's decision to buy a certain fabric from the range of available fabrics for a desired application. Therefore, textile and clothing manufacturers have long been in search…
Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…
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…
When a user scratches a hand-held rigid tool across an object surface, an acceleration signal can be captured, which carries relevant information about the surface. More importantly, such a haptic signal is complementary to the visual…
In order to design haptic icons or build a haptic vocabulary, we require a set of easily distinguishable haptic signals to avoid perceptual ambiguity, which in turn requires a way to accurately estimate the perceptual (dis)similarity of…
Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
Playing back vibrotactile signals through actuators is commonly used to simulate tactile feelings of virtual textured surfaces. However, there is often a small mismatch between the simulated tactile feelings and intended tactile feelings by…
To realize accurate texture classification, this article proposes a complex networks (CN)-based multi-feature fusion method to recognize texture images. Specifically, we propose two feature extractors to detect the global and local features…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
While visual and auditory information are prevalent in modern multimedia systems, haptic interaction, e.g., tactile and kinesthetic interaction, provides a unique form of human perception. However, multimedia technology for contact…
We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…