Related papers: Skin-Machine Interface with Multimodal Contact Mot…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
The ability to perform locomotion in various terrains is critical for legged robots. However, the robot has to have a better understanding of the surface it is walking on to perform robust locomotion on different terrains. Animals and…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
Skin lesion classification is essential for early dermatological diagnosis, yet many existing computer-aided systems rely primarily on dermoscopic images and underutilize the multimodal evidence routinely available in clinical practice. To…
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…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
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…
Skin cancer is one of the deadliest diseases and has a high mortality rate if left untreated. The diagnosis generally starts with visual screening and is followed by a biopsy or histopathological examination. Early detection can aid in…
This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External contact forces are converted to magnetic field changes by…
The human somatosensory system integrates multimodal sensory feedback, including tactile, proprioceptive, and thermal signals, to enable comprehensive perception and effective interaction with the environment. Inspired by the biological…
Soft electronic skins are one of the means to turn an industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human-robot collaboration, soft skins can make them safer. In this work, we study…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
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…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Human computer interaction facilitates intelligent communication between humans and computers, in which gesture recognition plays a prominent role. This paper proposes a machine learning system to identify dynamic gestures using tri-axial…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…