相关论文: Acoustic Wave Approach for Multi-Touch Tactile Sen…

This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…

This work describes and assesses different methods for estimating the time-of-arrival (TOA) of impact-induced waves in isotropic plate-like structures. The methods considered include threshold crossing (TC), continuous wavelet transform…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in…

We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile information. We evaluate different sound representations and learning…

We report the design and characterization of a self-assembled, locally resonant acoustic metamaterial for Lamb waves, composed of a monolayer of $1.02$ $\mu$m polystyrene microspheres adhered to a $1.3$ $\mu$m thick free-standing silicon…

Accurate precise positioning at millimeter wave frequencies is possible due to the large available bandwidth that permits precise on-the-fly time of flight measurements using conventional air interface standards. In addition, narrow antenna…

In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

Though robotic dexterous manipulation has progressed substantially recently, challenges like in-hand occlusion still necessitate fine-grained tactile perception, leading to the integration of more tactile sensors into robotic hands.…

We experimentally demonstrate the feasibility of visualizing stress waves propagating in plates using air-coupled acoustic emission sensors. Specifically, we employ a device that embeds arrays of microphones around an optical lens in a…

We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to…

With the rapid development of the Internet of Things (IoT) and the rise of 5G communication networks and automatic driving, millimeter wave (mmWave) sensing is emerging and starts impacting our life and workspace. mmWave sensing can sense…

Universal jamming grippers excel at grasping unknown objects due to their compliant bodies. Traditional tactile sensors can compromise this compliance, reducing grasping performance. We present acoustic sensing as a form of morphological…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional 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…

The sensing and positioning capabilities foreseen in 6G have great potential for technology advancements in various domains, such as future smart cities and industrial use cases. Channel charting has emerged as a promising technology in…

We are concerned with a novel sensor-based gesture input/instruction technology which enables human beings to interact with computers conveniently. The human being wears an emitter on the finger or holds a digital pen that generates a time…

Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addresses this problem by applying machine learning techniques to…