Related papers: Learning to Feel Materials from Multisensory Tacti…

Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…

Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…

The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…

This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

As robots become increasingly integrated into everyday tasks, their ability to perceive both the shape and properties of objects during in-hand manipulation becomes critical for adaptive and intelligent behavior. We present SemanticFeels,…

The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…

The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…

As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of…

During a robot to human object handover task, several intended or unintended events may occur with the object - it may be pulled, pushed, bumped or simply held - by the human receiver. We show that it is possible to differentiate between…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…

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…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…

Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…

Recognition techniques allow robots to make proper planning and control strategies to manipulate various objects. Object recognition is more reliable when made by combining several percepts, e.g., vision and haptics. One of the…

Aligning large language models (LLMs) behaviour with human intent is critical for future AI. An important yet often overlooked aspect of this alignment is the perceptual alignment. Perceptual modalities like touch are more multifaceted and…