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User interfaces provide an interactive window between physical and virtual environments. A new concept in the field of human-computer interaction is a soft user interface; a compliant surface that facilitates touch interaction through…
This report presents the experimental methodology and a step-by-step guide for gathering data on how aging influences tactile surface perception in decision and action. The experiments consist of a set of trials in which the ability to…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
Currently, diagnosis of skin diseases is based primarily on visual pattern recognition skills and expertise of the physician observing the lesion. Even though dermatologists are trained to recognize patterns of morphology, it is still a…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…
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…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Perceptualizing tool interactions with deformable structures in surgical procedures remains challenging, as unimodal visualization techniques often fail to capture the complexity of these interactions due to constraints such as occlusion…
Collaborative robots are expected to physically interact with humans in daily living and workplace, including industrial and healthcare settings. A related key enabling technology is tactile sensing, which currently requires addressing the…
We aimed to develop a tactile display that allows users to actively explore the virtual texture of a surface. We developed a tactile display embedded in an optical mouse that provides a wide range of frequency vibrations to the user's…
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…
Self-touch gestures (e.g., nuanced facial touches and subtle finger scratches) provide rich insights into human behaviors, from hygiene practices to health monitoring. However, existing approaches fall short in detecting such micro gestures…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
Electrovibration technology enables tactile texture rendering on capacitive touchscreens by modulating friction between the finger and the screen through electrostatic attraction forces, generated by applying an alternating voltage signal…
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…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…