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How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
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…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…
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…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…
Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability, and cost-effectiveness. In this work, we present LVTG, a…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, an open-source wearable tactile glove…
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 advancements in eye tracking technology are driving the adoption of gaze-assisted interaction as a rich and accessible human-computer interaction paradigm. Gaze-assisted interaction serves as a contextual, non-invasive, and explicit…
AutoDRIVE is envisioned to be a comprehensive research platform for scaled autonomous vehicles. This work is a stepping-stone towards the greater goal of realizing such a research platform. Particularly, this work proposes a…
Past research has widely explored the design and fabrication of resistive matrix-based tactile sensors as a means of creating touch-sensitive devices. However, developing portable, adaptive, and long-lasting tactile sensing systems that…
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a…
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 play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Safe navigation for the visually impaired individuals remains a critical challenge, especially concerning head-level obstacles, which traditional mobility aids often fail to detect. We introduce GuideTouch, a compact, affordable, standalone…
Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…