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The ability to associate touch with sight is essential for tasks that require physically interacting with objects in the world. We propose a dataset with paired visual and tactile data called Touch and Go, in which human data collectors…
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…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…
Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
Tactile perception is essential for embodied agents to understand physical attributes of objects that cannot be determined through visual inspection alone. While existing approaches have made progress in visual and language modalities for…
Haptic displays play an important role in enhancing the sense of presence in VR and telepresence. Displaying the tactile properties of fabrics has potential in the fashion industry, but there are difficulties in dynamically displaying…
In today's society, where independent living is becoming increasingly important, it can be extremely constricting for those who are blind. Blind and visually impaired (BVI) people face challenges because they need manual support to prompt…
Vision Transformers, ViTs, have emerged as a powerful alternative to convolutional neural networks, CNNs, in a variety of image-based tasks. While CNNs have previously been evaluated for their ability to perform graphical perception tasks,…
Grasping constitutes a critical challenge for visually impaired people. To address this problem, we developed a tactile bracelet that assists in grasping by guiding the user's hand to a target object using vibration commands. Here we…
Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile…
Mobile manipulators are increasingly deployed in complex environments, requiring diverse sensors to perceive and interact with their surroundings. However, equipping every robot with every possible sensor is often impractical due to cost…
Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Perception (IP). It provides the following benefits: (i)…
Tactile perception is profoundly influenced by the surface properties of objects in contact. However, despite their crucial role in shaping tactile experiences, these material characteristics have been largely neglected in existing tactile…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
In most VR experiences, the visual sense dominates other modes of sensory input, encouraging non-visual senses to respond as if the visual were real. The simulated visual world thus becomes a sort of felt actuality, where the 'actual'…
Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…
Visual prostheses are designed to restore partial functional vision in patients with total vision loss. Retinal visual prostheses provide limited capabilities as a result of low resolution, limited field of view and poor dynamic range.…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…