Related papers: ArrayTac: A Closed-loop Piezoelectric Tactile Plat…
The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…
Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…
Palm-based tactile displays have the potential to evolve from single motor interfaces (e.g., smartphones) to high-resolution tactile displays (e.g., back-of-device haptic interfaces) enabling richer multi-modal experiences with more…
The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…
Modern audio-visual media rely on compact representations for efficient storage and transmission, whereas realistic digital touch still depends on high-resolution tactile recordings. Existing approaches for representing tactile signals…
One of the main challenges of gaze-based interactions is the ability to distinguish normal eye function from a deliberate interaction with the computer system, commonly referred to as 'Midas touch'. In this paper we propose, EyeTAP (Eye…
Haptic feedback is the most significant sensory interface following visual cues. Developing thin, flexible surfaces that function as haptic interfaces is important for augmenting virtual reality, wearable devices, robotics and prostheses.…
Tactile sensors supply useful information during the interaction with an object that can be used for assessing the stability of a grasp. Most of the previous works on this topic processed tactile readings as signals by calculating…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Tactile perception is an increasingly popular gateway in human-machine interaction, yet universal design guidelines for tactile displays are still lacking, largely due to the absence of methods to measure sensibility across skin areas. In…
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties as well as force dynamics. Although optical tactile sensors are uniquely…
Robots in many real-world settings have access to force/torque sensors in their gripper and tactile sensing is often necessary in tasks that involve contact-rich motion. In this work, we leverage surprise from mismatches in touch feedback…
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…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Misdiagnosis can result in delayed treatment and patient harm. Robotic patient simulators (robopatients) provide a controlled framework for training and evaluating clinicians in rare and complex cases. We investigate auditory tactile…
Refreshable tactile displays (RTDs) are predicted to soon become a viable option for the provision of accessible graphics for people who are blind or have low vision (BLV). This new technology for the tactile display of braille and…
Recent research advance has significantly improved the visual realism of immersive 3D video communication. In this work we present a method to further enhance this immersive experience by adding the hand touch capability ("remote hand…