相关论文: Creating Usable Pin Array Tactons for Non-Visual I…
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…
Screen readers are audio-based software that Blind and Low Vision (BLV) people use to interact with computing devices, such as tablets and smartphones. Although this technology has significantly improved the accessibility of touchscreen…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
Tactile information is a critical tool for dexterous manipulation. As humans, we rely heavily on tactile information to understand objects in our environments and how to interact with them. We use touch not only to perform manipulation…
Objective: This paper proposes a novel type of stimulus in the shape of sinusoidal gratings displayed with an imperceptibly high-frequency motion. The stimulus has been designed for use in BCI (Brain Computer Interface) applications that…
We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer. Successful solutions require localizing free…
Ultrasound midair haptics (UMH) can present non-contact tactile stimuli using focused ultrasound without any wearables. Recently, UMH has been shown to present not only conventional vibration stimulus but also static pressure stimulus by…
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…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
While visual and auditory information are prevalent in modern multimedia systems, haptic interaction, e.g., tactile and kinesthetic interaction, provides a unique form of human perception. However, multimedia technology for contact…
With the emergence of pen-enabled tablets and mobile devices, stylus-based interaction has been receiving increasing attention. Unfortunately, styluses available in the market today are all passive instruments that are primarily used for…
This paper introduces a new type of system for fabric defect detection with the tactile inspection system. Different from existed visual inspection systems, the proposed system implements a vision-based tactile sensor. The tactile sensor,…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…
Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural…
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
The usability of small devices such as smartphones or interactive watches is often hampered by the limited size of command vocabularies. This paper is an attempt at better understanding how finger identification may help users invoke…
In humans, the tactile perception of fine textures (spatial scale <200 micrometers) is mediated by skin vibrations generated as the finger scans the surface. To establish the relationship between texture characteristics and subcutaneous…