相关论文: Artificial Skin Ridges Enhance Local Tactile Shape…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…
This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will…
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…
Skin cancer can be identified by dermoscopic examination and ocular inspection, but early detection significantly increases survival chances. Artificial intelligence (AI), using annotated skin images and Convolutional Neural Networks…
Humans represent and discriminate the objects in the same category using their properties, and an intelligent robot should be able to do the same. In this paper, we build a robot system that can autonomously perceive the object properties…
In this paper we present a new data-driven method for robust skin detection from a single human portrait image. Unlike previous methods, we incorporate human body as a weak semantic guidance into this task, considering acquiring large-scale…
Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…
When a user scratches a hand-held rigid tool across an object surface, an acceleration signal can be captured, which carries relevant information about the surface. More importantly, such a haptic signal is complementary to the visual…
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…
1. Research question: With the growing interest in skin diseases and skin aesthetics, the ability to predict facial wrinkles is becoming increasingly important. This study aims to evaluate whether a computational model, convolutional neural…
Accurately identifying hands in images is a key sub-task for human activity understanding with wearable first-person point-of-view cameras. Traditional hand segmentation approaches rely on a large corpus of manually labeled data to generate…
In recent years, deep learning techniques have been used to develop sign language recognition systems, potentially serving as a communication tool for millions of hearing-impaired individuals worldwide. However, there are inherent…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…
The ability to perform locomotion in various terrains is critical for legged robots. However, the robot has to have a better understanding of the surface it is walking on to perform robust locomotion on different terrains. Animals and…
Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions.…
Skin distortion is a long standing challenge in fingerprint matching, which causes false non-matches. Previous studies have shown that the recognition rate can be improved by estimating the distortion field from a distorted fingerprint and…