Related papers: DuoTouch: Passive Two-Footprint Attachments Using …
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…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…
Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material…
Walking is among the most common human activities where the feet can gather rich tactile information from the ground. The dynamic contact between the feet and the ground generates vibration signals that can be sensed by the foot skin. While…
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…
Modern touchscreens utilize capacitive sensing technology to enable precise and robust multi-touch interaction. However, the broader expressive potential of the human hand remains underutilized, since most existing methods directly filter…
This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…
Tactile sensation plays a crucial role in the development of multi-modal large models and embodied intelligence. To collect tactile data with minimal cost as possible, a series of studies have attempted to generate tactile images by…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
In recent times, developments in field of communication and robotics has progressed with leaps and bounds. In addition, the blend of both disciplines has contributed heavily in making human life easier and better. So in this work while…
Micro-actions are subtle, localized movements lasting 1-3 seconds such as scratching one's head or tapping fingers. Such subtle actions are essential for social communication, ubiquitously used in natural interactions, and thus critical for…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
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…
Deep learning based object detectors are commonly deployed on mobile devices to solve a variety of tasks. For maximum accuracy, each detector is usually trained to solve one single specific task, and comes with a completely independent set…
Gesture tracking technology provides users with a hands free interactive experience without the need to hold or touch devices. However, current gesture tracking research has primarily focused on tracking accuracy while neglecting issues of…
The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…
The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…
Nowadays smartphones come embedded with multiple motion sensors, such as an accelerometer, a gyroscope and an orientation sensor. With these sensors, apps can gather more information and therefore provide end users with more functionality.…
We present a quantum fingerprinting protocol relying on two-photon interference which does not require a shared phase reference between the parties preparing optical signals carrying data fingerprints. We show that the scaling of the…