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Advancements in surface haptics technology have given rise to the development of interactive applications displaying tactile content on touch surfaces such as images, signs, diagrams, plots, charts, graphs, maps, networks, and tables. In…
Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…
Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…
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…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
The objective of the system presented in this paper is to give users tactile feedback while walking in a virtual world through an anthropomorphic finger motion interface. We determined that the synchrony between the first person perspective…
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
User interfaces provide an interactive window between physical and virtual environments. A new concept in the field of human-computer interaction is a soft user interface; a compliant surface that facilitates touch interaction through…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…