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Robotic manipulation tasks are contact-rich, yet most imitation learning (IL) approaches rely primarily on vision, which struggles to capture stiffness, roughness, slip, and other fine interaction cues. Tactile signals can address this gap,…
Microservices have become a mainstream architectural paradigm, yet microservice bad smells can significantly harm maintainability and performance. Existing detection tools often produce obscure outputs and lack effective integration with…
As robots become increasingly prevalent in both homes and industrial settings, the demand for intuitive and efficient human-machine interaction continues to rise. Gesture recognition offers an intuitive control method that does not require…
The development of smart textile interfaces is hindered by the inclusion of rigid hardware components and batteries within the fabric, which pose challenges in terms of manufacturability, usability, and environmental concerns related to…
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSlim for the dense packing task. In this paper, we propose an…
While current onboard state estimation methods are adequate for most driving and safety-related applications, they do not provide insights into the interaction between tires and road surfaces. This paper explores a novel communication…
The concept of compressive sensing was recently proposed to significantly reduce the electron dose in scanning transmission electron microscopy (STEM) while still maintaining the main features in the image. Here, an experimental setup based…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
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.…
Nowadays, more effective control of hand hygiene (HH) by healthcare teams has become essential. HH control is crucial to prevent cross-contamination and healthcare-associated infections (HAI), according to Brazilian regulatory standards and…
Human health is closely associated with their daily behavior and environment. However, keeping a healthy lifestyle is still challenging for most people as it is difficult to recognize their living behaviors and identify their surrounding…
Sonomyography (SMG) is a non-invasive technique that uses ultrasound imaging to detect the dynamic activity of muscles. Wearable SMG systems have recently gained popularity due to their potential as human-computer interfaces for their…
Sensing surface vibrations promise unobtrusive interaction for smart home systems by enabling gesture recognition on existing everyday surfaces without disturbing living-space design. Existing approaches typically address only parts of the…
Self-mixing interferometry (SMI) has been lauded for its sensitivity in detecting microvibrations, while requiring no physical contact with its target. Microvibrations, i.e., sounds, have recently been used as a salient indicator of…
Hand-face interactions play a key role in many everyday tasks, providing insights into user habits, behaviors, intentions, and expressions. However, existing wearable sensing systems often struggle to track these interactions in daily…
We present an intelligent interactive nightstand mounted on a mobile robot, to aid the elderly in their homes using physical, tactile and visual percepts. We show the integration of three different sensing modalities for controlling the…
Contact-free detection of human vital signs like heart rate and respiration rate will improve the patients' comfort and enables long-term monitoring of newborns or bedridden patients. For that, reliable and safe measurement techniques are…
This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…
The fast demographic growth, together with the concentration of the population in cities and the increasing amount of daily waste, are factors that push to the limit the ability of waste assimilation by Nature. Therefore, we need…