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Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…
Analysis of three-dimensional biological samples is critical to understanding tissue function and the mechanisms of disease. Many chronic conditions, like neurodegenerative diseases and cancers, correlate with complex tissue changes that…
Tactile graphics are widely used to present maps and statistical diagrams to blind and low vision (BLV) people, with accessibility guidelines recommending their use for graphics where spatial relationships are important. Their use is…
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lower size ranges of up to 60cm, but larger humanoid robots…
Modern incarnations of tactile sensors produce high-dimensional raw sensory feedback such as images, making it challenging to efficiently store, process, and generalize across sensors. To address these concerns, we introduce a novel…
The utilization of computational photography becomes increasingly essential in the medical field. Today, imaging techniques for dermatology range from two-dimensional (2D) color imagery with a mobile device to professional clinical imaging…
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…
If a picture is worth thousand words, a moving 3d shape must be worth a million. We build upon the success of recent generative methods that create images fitting the semantics of a text prompt, and extend it to the controlled generation of…
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that…
Tool use requires reasoning about the fit between an object's affordances and the demands of a task. Visual affordance learning can benefit from goal-directed interaction experience, but current techniques rely on human labels or expert…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
The scarcity of organs for transplant has led to large waiting lists of very sick patients. In drug development, the time required for human trials greatly increases the time to market. Drug companies are searching for alternative…
We explore how interactions inspired by drawing software can help edit text. Making an analogy between visual and text editing, we consider words as pixels, sentences as regions, and tones as colours. For instance, direct manipulations…
Live time-lapse microscopy is essential for a wide range of biological applications. Software-based automation is the gold standard for the operation of hardware accessories necessary for image acquisition. Given that current software…
Interactive evolution has shown the potential to create amazing and complex forms in both 2-D and 3-D settings. However, the algorithm is slow and users quickly become fatigued. We propose that the use of eye tracking for interactive…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
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…
Recent work in Generative AI enables the stylization of 3D models based on image prompts. However, these methods do not incorporate tactile information, leading to designs that lack the expected tactile properties. We present TactStyle, a…