Related papers: Audio-Based Tactile Human-Robot Interaction Recogn…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
In the framework of assessing the pathology severity in chronic cough diseases, medical literature underlines the lack of tools for allowing the automatic, objective and reliable detection of cough events. This paper describes a system…
This study aimed to develop a system that provides vibrotactile feedback corresponding to the emotional content of text when a communication robot speaks. We used OpenAI's "GPT-4o Mini" for emotion estimation, extracting valence and arousal…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
We address the problem of bootstrapping language acquisition for an artificial system similarly to what is observed in experiments with human infants. Our method works by associating meanings to words in manipulation tasks, as a robot…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
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 a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing a significant role when extracting information about…
Owing to the recent success of Large Language Models, Modern A.I has been much focused on linguistic interactions with humans but less focused on non-linguistic forms of communication between man and machine. In the present paper, we test…
The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
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…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
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…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile sensors (taxels), we use interpolation techniques. The…
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
How human-like do conversational robots need to look to enable long-term human-robot conversation? One essential aspect of long-term interaction is a human's ability to adapt to the varying degrees of a conversational partner's engagement…