相关论文: Touch attention Bayesian models for robotic active…

Various health-care applications such as assisted living, fall detection etc., require modeling of user behavior through Human Activity Recognition (HAR). HAR using mobile- and wearable-based deep learning algorithms have been on the rise…

To fluently collaborate with people, robots need the ability to recognize human activities accurately. Although modern robots are equipped with various sensors, robust human activity recognition (HAR) still remains a challenging task for…

Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as…

Human texture perception is a weighted average of multi-sensory inputs: visual and tactile. While the visual sensing mechanism extracts global features, the tactile mechanism complements it by extracting local features. The lack of coupled…

A common practice to account for psychophysical biases in vision is to frame them as consequences of a dynamic process relying on optimal inference with respect to a generative model. The present study details the complete formulation of…

Active perception systems maximizing information gain to support both monitoring and decision making have seen considerable application in recent work. In this paper, we propose and demonstrate a method of acquiring and extrapolating…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically consistent inverse dynamics, contact and loop-closure…

We consider the problem of how to improve automatic target recognition by fusing the naive sensor-level classification decisions with "intuition," or context, in a mathematically principled way. This is a general approach that is compatible…

Sensor-based Human Activity Recognition (HAR) underpins many ubiquitous and wearable computing applications, yet current models remain limited by scarce labels, sensor heterogeneity, and weak generalization across users, devices, and…

One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…

Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…

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…

Multi-fingered robotic grasping is an undeniable stepping stone to universal picking and dexterous manipulation. Yet, multi-fingered grippers remain challenging to control because of their rich nonsmooth contact dynamics or because of…

While learning from synthetic training data has recently gained an increased attention, in real-world robotic applications, there are still performance deficiencies due to the so-called Sim-to-Real gap. In practice, this gap is hard to…

The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy…

Current Virtual Reality (VR) environments lack the rich haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR…

This report presents the experimental methodology and a step-by-step guide for gathering data on how aging influences tactile surface perception in decision and action. The experiments consist of a set of trials in which the ability to…

This research report explores the role of eye gaze in human-robot interactions and proposes a learning system for detecting objects gazed at by humans using solely visual feedback. The system leverages face detection, human attention…

In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…