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Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
In this work, we present a reconfigurable data glove design to capture different modes of human hand-object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve…
Resistive tactile sensing gloves have captured the interest of researchers spanning diverse domains, such as robotics, healthcare, and human-computer interaction. However, existing fabrication methods often require labor-intensive assembly…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
Cardiac arrest is very common nowadays. Sudden heart attack is a condition where the heart suddenly stops beating causing a significant decrease in blood flow to the brain. The first step in medical point of view is for a patient…
Combining interconnected wearables provides fascinating opportunities like augmenting exergaming with virtual coaches, feedback on the execution of sports activities, or how to improve on them. Breathing rhythm is a particularly interesting…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Various intervention therapies ranging from pharmaceutical to hi-tech tailored solutions have been available to treat difficulty in falling asleep commonly caused by insomnia in modern life. However, current techniques largely remain…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
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…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
Telerobotics has shown promise in helping workers safely manipulate building components on construction sites; however, its primary reliance on visual feedback limits efficiency in situations with stiff contact or poor visibility. Reliable…
Reliable brain-computer interface (BCI) control of robots provides an intuitive and accessible means of human-robot interaction, particularly valuable for individuals with motor impairments. However, existing BCI-Robot systems face major…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a closed-loop, continuous myoelectric prosthetic hand…
Grasping objects requires tight integration between visual and tactile feedback. However, there is an inherent difference in the scale at which both these input modalities operate. It is thus necessary to be able to analyze tactile feedback…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…