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Purpose: This research aims to facilitate the use of state-of-the-art computer vision algorithms for the automated training of surgeons and the analysis of surgical footage. By estimating 2D hand poses, we model the movement of the…
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
Humans have the amazing ability to perform very subtle manipulation task using a closed-loop control system with imprecise mechanics (i.e., our body parts) but rich sensory information (e.g., vision, tactile, etc.). In the closed-loop…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface…
Real-time vital sign monitoring is gaining immense significance not only in the medical field but also in personal health management. Facing the needs of different application scenarios of the smart and healthy city in the future, the…
Tactile sensing is critical for learning-based dexterous manipulation, yet principled guidelines for sensor placement remain largely absent. While dense sensor arrays provide rich contact feedback, they impose significant hardware costs and…
Objective: Non-contact physiological measurement is a growing research area that allows capturing vital signs such as heart rate (HR) and breathing rate (BR) comfortably and unobtrusively with remote devices. However, most of the approaches…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…
Respiratory rate (RR) monitoring is integral to understanding physical and mental health and tracking fitness. Existing studies have demonstrated the feasibility of RR monitoring under specific user conditions (e.g., while remaining still,…
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…
Haptic feedback is critical in a broad range of human-machine/computer-interaction applications. However, the high cost and low portability/wearability of haptic devices remain unresolved issues, severely limiting the adoption of this…
The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics. Existing motion capture paradigms are compromised by a trade-off between…
Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…