Related papers: Sub-surface Skin Deformation in Response to Gentle…
Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
In behavioral health informatics, inferring an individual's psychological state from physiological and behavioral data is fundamental. A key physiological signal in this endeavor is electrodermal activity (EDA), often quantified as skin…
Coordinated cellular movements are key processes in tissue morphogenesis. Using a cell-based modeling approach we study the dynamics of epithelial layers lining surfaces with constant and varying curvature. We demonstrate that extrinsic…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
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…
As small particles skim our airways during breathing, or our intestines during digestion, the surface epithelium is subjected to local exogenous shear that deforms hundreds to thousands of tightly interacting cells. Unlike shear…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, contact areas, and durations. While previous work on touch…
High-fidelity biomechanical models usually involve the mechanical characterization of biological tissues using experimental methods based on optical measurements. In most experiments, strains are evaluated based on displacements of a few…
Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…
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…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Discrete simulation methods are efficient tools to investigate the complex behaviors of complex fluids made of either dry granular materials or dilute suspensions. By contrast, materials made of soft and/or concentrated units (emulsions,…
The main objective of this study is to investigate whether one can use recordings of human-to-human touch, such as a caress, to improve tactile apparent motion interfaces to make them feel more natural. We report here preliminary recordings…
Effective communication of robotic touch intent is a key factor in promoting safe and predictable physical human-robot interaction (pHRI). While intent communication has been widely studied, existing approaches lack the spatial specificity…
Optical coherence tomography (OCT) is a medical imaging modality that allows us to probe deeper substructures of skin. The state-of-the-art wound care prediction and monitoring methods are based on visual evaluation and focus on surface…
Recent growth in popularity of mobile and wearable devices has re-ignited the need for reliable and stealthy communication side-channels to enable applications such as secret/PIN sharing, co-location proofs and user authentication. Existing…
The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment.…