Related papers: {\mu}Touch: Enabling Accurate, Lightweight Self-To…
Hand hygiene is among the most effective daily practices for preventing infectious diseases such as influenza, malaria, and skin infections. While professional guidelines emphasize proper handwashing to reduce the risk of viral infections,…
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…
Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors rely on deformation to infer contact, making such…
Incorporating touch as a sensing modality for robots can enable finer and more robust manipulation skills. Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. In this paper, we…
Tactile sensing and the manipulation of delicate objects are critical challenges in robotics. This study presents a vision-based magnetic-actuated whisker array sensor that integrates these functions. The sensor features eight whiskers…
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
The vibrations generated from scratching and tapping on surfaces can be highly expressive and recognizable, and have therefore been proposed as a method of natural user interface (NUI). Previous systems require custom sensor hardware such…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
Gesture recognition is an indispensable component of natural and efficient human-computer interaction technology, particularly in desktop-level applications, where it can significantly enhance people's productivity. However, the current…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Hand-over-face gestures can provide important implicit interactions during conversations, such as frustration or excitement. However, in situations where interlocutors are not visible, such as phone calls or textual communication, the…
Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…
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…
Egocentric human video data, which captures rich human-environment interactions and can be collected at scale, has become a key driver of embodied intelligence research. However, existing egocentric datasets typically lack tactile sensing,…
Neural mechanisms of touch are typically studied in laboratory settings using robotic or other types of well-controlled devices. Such stimuli are very different from highly complex naturalistic human-to-human touch interactions. The lack of…
The ability to associate touch with other modalities has huge implications for humans and computational systems. However, multimodal learning with touch remains challenging due to the expensive data collection process and non-standardized…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Mobile authentication is indispensable for preventing unauthorized access to multi-touch mobile devices. Existing mobile authentication techniques are often cumbersome to use and also vulnerable to shoulder-surfing and smudge attacks. This…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…