Related papers: Single-Pixel Tactile Skin via Compressive Sampling
Deep learning has been used to image compressive sensing (CS) for enhanced reconstruction performance. However, most existing deep learning methods train different models for different subsampling ratios, which brings additional hardware…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
Recent advancements in soft robots, human-machine interfaces, and wearable electronics have led to an increased demand for high-performance soft tactile sensors. Tomographic tactile sensor based on resistive coupling is a novel contact…
Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) offer high local resolution but require…
Single-pixel imaging (SPI) is significant for applications constrained by transmission bandwidth or lighting band, where 3D SPI can be further realized through capturing signals carrying depth. Sampling strategy and reconstruction algorithm…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in…
Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
During social interactions, people use auditory, visual, and haptic cues to convey their thoughts, emotions, and intentions. Due to weight, energy, and other hardware constraints, it is difficult to create devices that completely capture…
Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…
Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…
As an alternative to conventional multi-pixel cameras, single-pixel cameras enable images to be recorded using a single detector that measures the correlations between the scene and a set of patterns. However, to fully sample a scene in…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and…
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…
3D Gaussian Splatting (3DGS) demonstrates unparalleled superior performance in 3D scene reconstruction. However, 3DGS heavily relies on the sharp images. Fulfilling this requirement can be challenging in real-world scenarios especially when…