Related papers: EchoForce: Continuous Grip Force Estimation from S…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
Conventional electromyography (EMG) measures the continuous neural activity during muscle contraction, but lacks explicit quantification of the actual contraction. Mechanomyography (MMG) and accelerometers only measure body surface motion,…
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world…
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across…
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitance, or force-torque measurements face fundamental trade-offs…
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
The current methods of assessing tendon health such as clinical examination, imaging techniques, and implanted pressure sensors, are often based on a subjective assessment or are not accurate enough, are extremely expensive, or are limited…
Robotic endoscopic systems provide intuitive control and eliminate radiation exposure, making them a promising alternative to conventional methods. However, the lack of axial force measurement from the robot remains a major challenge, as it…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Biometric-based authentication is gaining increasing attention for wearables and mobile applications. Meanwhile, the growing adoption of sensors in wearables also provides opportunities to capture novel wearable biometrics. In this work, we…
Body sounds provide rich information about the state of the human body and can be useful in many medical applications. Auscultation, the practice of listening to body sounds, has been used for centuries in respiratory and cardiac medicine…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…
The human somatosensory cortex is intimately linked to other central brain functions such as vision, audition, mechanoreception, and motor planning and control. These links are established through brain learning, and display a considerable…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
Step-counting has been widely implemented in wrist-worn devices and is accepted by end users as a quantitative indicator of everyday exercise. However, existing counting approach (mostly on wrist-worn setup) lacks robustness and thus…
Accurate estimation of human hand configuration and the forces they exert is critical for effective teleoperation and skill transfer in robotic manipulation. A deeper understanding of human interactions with objects can further enhance…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…