Related papers: TactDeform: Finger Pad Deformation Inspired Spatia…
The cyclotactor is a novel platform for finger-based tactile interaction research. The operating principle is to track vertical fingerpad position above a freely approachable surface aperture, while directly projecting a force on the same…
We propose a haptic system that applies forces or skin deformation to the user's arm, rather than at the fingertips, for believable interaction with virtual objects as an alternative to complex thimble devices. Such a haptic system would be…
Playing back vibrotactile signals through actuators is commonly used to simulate tactile feelings of virtual textured surfaces. However, there is often a small mismatch between the simulated tactile feelings and intended tactile feelings by…
We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural Deforming Contact Field (NDCF), a representation that…
Tactile perception is an increasingly popular gateway in human-machine interaction, yet universal design guidelines for tactile displays are still lacking, largely due to the absence of methods to measure sensibility across skin areas. In…
Realistic display of tactile textures on touch screens is a big step forward for haptic technology to reach a wide range of consumers utilizing electronic devices on a daily basis. Since the texture topography cannot be rendered explicitly…
In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…
This study mainly explores the application of natural gesture recognition based on computer vision in human-computer interaction, aiming to improve the fluency and naturalness of human-computer interaction through gesture recognition…
Haptic rendering of weight plays an essential role in naturalistic object interaction in virtual environments. While kinesthetic devices have traditionally been used for this aim by applying forces on the limbs, tactile interfaces acting on…
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…
Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…
In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
When a toddler is presented a new toy, their instinctual behaviour is to pick it upand inspect it with their hand and eyes in tandem, clearly searching over its surface to properly understand what they are playing with. At any instance…
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…