Related papers: HugSense: Exploring the Sensing Capabilities of In…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…
We outline the role of forward and inverse modelling approaches in the design of human--computer interaction systems. Causal, forward models tend to be easier to specify and simulate, but HCI requires solutions of the inverse problem. We…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Since wearable technology was first conceptualized in 1960, it has become a crucial aspect of our daily life. People's daily lives have been made better and their health and well-being have improved because of its convenience, real-time,…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Textile pneumatic actuators can provide useful wearable haptic feedback when embedded in gloves, armbands, and other smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects of…
The exciting new technology known as mid-air haptics has been adopted by several industries including Automotive and Entertainment, however it has yet to emerge in simulated pilot training or in real-life flight decks. Full-flight…
The technological transition from soft machines to soft robots necessarily passes through the integration of soft electronics and sensors. This allows for the establishment of feedback control systems while preserving the softness of the…
Affect recognition aims to detect a person's affective state based on observables, with the goal to e.g. provide reasoning for decision making or support mental wellbeing. Recently, besides approaches based on audio, visual or text…
Various foot complications can be easily avoided by continuous monitoring of foot plantar temperature and pressure. In this work, the design, characterization, and implementation of a Fiber Bragg Gratings (FBG) based smart insole capable of…
Operating in unstructured environments like households requires robotic policies that are robust to out-of-distribution conditions. Although much work has been done in evaluating robustness for visuomotor policies, the robustness evaluation…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
A new pressure sensor array, positioned on the bottom plate of a standard torsional rheometer is presented. It is built from a unique piezo-capacitive polymeric foam, and consists of twenty-five capacitive pressure sensors (of surface…
We discuss the applicability of compressed sensing theory. We take a genuine look at both experimental results and theoretical works. We answer the following questions: 1) What can compressed sensing really do? 2) More importantly, why?
Plantar pressure measurements can provide valuable insight into various health characteristics in patients. In this study, we describe different plantar pressure devices available on the market and their clinical relevance. Current devices…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…