Related papers: TactileWalk: Dynamic Electrotactile Patterns for F…
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 sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
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…
Compared to other biometrics, gait is difficult to conceal and has the advantage of being unobtrusive. Inertial sensors, such as accelerometers and gyroscopes, are often used to capture gait dynamics. These inertial sensors are commonly…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
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…
Haptic feedback is essential for human-machine interaction, as it bridges physical and digital experiences and enables immersive engagement with virtual environments. However, current haptic devices are frequently tethered, lack portability…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
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…
Beyond a simple notification of incoming calls or messages, more complex information such as alphabets and digits can be delivered through spatiotemporal tactile patterns (STPs) on a wrist-worn tactile display (WTD) with multiple tactors.…
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…
Touch is the first sense among human senses. Not only that, but it is also one of the most important senses that are indispensable. However, compared to sight and hearing, it is often neglected. In particular, since humans use the tactile…
Deterministic tourist walk (DTW) has attracted increasing interest in computer vision. In the last years, different methods for analysis of dynamic and static textures were proposed. So far, all works based on the DTW for texture analysis…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
Enabling gaze interaction in real-time on handheld mobile devices has attracted significant attention in recent years. An increasing number of research projects have focused on sophisticated appearance-based deep learning models to enhance…
We present TouchWalker, a real-time system for controlling full-body avatar locomotion using finger-walking gestures on a touchscreen. The system comprises two main components: TouchWalker-MotionNet, a neural motion generator that…