Related papers: Tactile-Based Human Intent Recognition for Robot A…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Visual object navigation using learning methods is one of the key tasks in mobile robotics. This paper introduces a new representation of a scene semantic map formed during the embodied agent interaction with the indoor environment. It is…
Accurate perception of object hardness is essential for safe and dexterous contact-rich robotic manipulation. Here, we present TactEx, an explainable multimodal robotic interaction framework that unifies vision, touch, and language for…
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…
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…
Limited access to medical infrastructure forces elderly and vulnerable patients to rely on home-based care, often leading to neglect and poor adherence to therapeutic exercises such as yoga or physiotherapy. To address this gap, we propose…
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…
RatSLAM is a rat hippocampus-inspired visual Simultaneous Localization and Mapping (SLAM) framework capable of generating semi-metric topological representations of indoor and outdoor environments. Whisker-RatSLAM is a 6D extension of the…
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…
Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…
Pose estimation is essential for robotic manipulation, particularly when visual perception is occluded during gripper-object interactions. Existing tactile-based methods generally rely on tactile simulation or pre-trained models, which…
For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
Existing object navigation benchmarks usually tell an embodied agent which object category to find, such as microwave or chair. Human-facing embodied AI is often asked something less direct: "I need something to warm this food" or "the room…
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 mainly explores the application of natural gesture recognition based on computer vision in human-computer interaction, aiming to improve the fluency and naturalness of human-computer interaction through gesture recognition…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…