Related papers: Object Recognition and Force Estimation with the G…
Solid particles, such as rice and coffee beans, are commonly stored in containers and are ubiquitous in our daily lives. Understanding those particles' properties could help us make later decisions or perform later manipulation tasks such…
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…
Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance…
We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…
Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingertip sensors, and longer fingers often require extraneous…
Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, Sensorless…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the…
Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, direct force sensing at the end-effector is challenging…
Tactile perception is crucial for a variety of robot tasks including grasping and in-hand manipulation. New advances in flexible, event-driven, electronic skins may soon endow robots with touch perception capabilities similar to humans.…
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
Human gesture recognition has assumed a capital role in industrial applications, such as Human-Machine Interaction. We propose an approach for segmentation and classification of dynamic gestures based on a set of handcrafted features, which…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
This study introduces an advanced gesture recognition and user interface (UI) interaction system powered by deep learning, highlighting its transformative impact on UI design and functionality. By utilizing optimized convolutional neural…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
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…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
We present an active tactile exploration framework for joint object recognition and 6D pose estimation. The proposed method integrates wrist force/torque sensing, GelSight tactile sensing, and free-space constraints within a Bayesian…