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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…

We propose a neuromorphic tactile sensing framework for robotic texture classification that is inspired by human exploratory strategies. Our system utilizes the NeuroTac sensor to capture neuromorphic tactile data during a series of…

We propose a system to deliver dynamic guidance in drawing, sketching and handwriting tasks via an electromagnet moving underneath a high refresh rate pressure sensitive tablet. The system allows the user to move the pen at their own pace…

Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…

For people with visual impairments, tactile graphics are an important means to learn and explore information. However, raised line tactile graphics created with traditional materials such as embossing are static. While available refreshable…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…

Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…

Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…

Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

Surface vibration tactile feedback is capable of conveying various semantic information to humans via the handheld electronic devices, like smartphone, touch panel,and game controller. However, covering the whole device contacting surface…

A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal…

Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…

Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…

Dynamic graph representation learning plays a crucial role in understanding evolving behaviors. However, existing methods often struggle with flexibility, adaptability, and the preservation of temporal and structural dynamics. To address…

The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…

This paper has introduced a novel approach for the real-time estimation of 3D tactile forces exerted by human fingertips via vision only. The introduced approach is entirely monocular vision-based and does not require any physical force…

Safe navigation for the visually impaired individuals remains a critical challenge, especially concerning head-level obstacles, which traditional mobility aids often fail to detect. We introduce GuideTouch, a compact, affordable, standalone…