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Hand pose estimation (HPE) is a task that predicts and describes the hand poses from images or video frames. When HPE models estimate hand poses captured in a laboratory or under controlled environments, they normally deliver good…
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…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
Visuotactile sensors are a popular tactile sensing strategy due to high-fidelity estimates of local object geometry. However, existing algorithms for processing raw sensor inputs to useful intermediate signals such as contact patches…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
In this communication, we present a high resolution tactile plate that can localize one or two contact fingers. The localization principle is based on Lamb wave absorption. Fingers' contact will generate absorption signals while Lamb waves…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Self-touch gestures (e.g., nuanced facial touches and subtle finger scratches) provide rich insights into human behaviors, from hygiene practices to health monitoring. However, existing approaches fall short in detecting such micro gestures…
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…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
The dynamic hand gesture recognition task has seen studies on various unimodal and multimodal methods. Previously, researchers have explored depth and 2D-skeleton-based multimodal fusion CRNNs (Convolutional Recurrent Neural Networks) but…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
Soft lubricated contacts exhibit complex interfacial behaviours governed by the coupled effects of multiscale surface roughness and non-linear fluid-solid interactions. Accurately capturing this interplay across thin-film flows is…
Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of…
High-quality 4D reconstruction of human performance with complex interactions to various objects is essential in real-world scenarios, which enables numerous immersive VR/AR applications. However, recent advances still fail to provide…
In the long pursuit of smart robotics, it has been envisioned to empower robots with human-like senses, especially vision and touch. While tremendous progress has been made in image sensors and computer vision over the past decades, the…
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…