Related papers: ViTaMIn-B: A Reliable and Efficient Visuo-Tactile …
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
4D human sensing and modeling are fundamental tasks in vision and graphics with numerous applications. With the advances of new sensors and algorithms, there is an increasing demand for more versatile datasets. In this work, we contribute…
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…
Vision-based tactile sensors (VBTS) have gained widespread application in robotic hands, grippers and prosthetics due to their high spatial resolution, low manufacturing costs, and ease of customization. While VBTSs have common design…
Recent advances in visuotactile sensors increasingly employ biomimetic curved surfaces to enhance sensorimotor capabilities. Although such curved visuotactile sensors enable more conformal object contact, their perceptual quality is often…
In this paper, we introduce a novel Multiscale Video Transformer Network (MVTN) for dynamic hand gesture recognition, since multiscale features can extract features with variable size, pose, and shape of hand which is a challenge in hand…
Humans naturally perform bimanual skills to handle large and heavy objects. To enhance robots' object manipulation capabilities, generating effective bimanual grasp poses is essential. Nevertheless, bimanual grasp synthesis for dexterous…
Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in computer vision. However, learning bimanual coordination…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic operations, proposing great potential for enhancing user…
Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…
Finger pose offers promising opportunities to expand human computer interaction capability of touchscreen devices. Existing finger pose estimation algorithms that can be implemented in portable devices predominantly rely on capacitive…
Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware heterogeneity across bimanual robotic platforms. To bridge this…
We revisit the study of a wrist-mounted camera system (referred to as HandCam) for recognizing activities of hands. HandCam has two unique properties as compared to egocentric systems (referred to as HeadCam): (1) it avoids the need to…
Vision-based tactile sensing has been widely used in perception, reconstruction, and robotic manipulation. However, collecting large-scale tactile data remains costly due to the localized nature of sensor-object interactions and…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…