相关论文: Real-time Adaptive Prediction Method for Smooth Ha…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
Adaptive sampling that exploits the spatiotemporal redundancy in videos is critical for always-on action recognition on wearable devices with limited computing and battery resources. The commonly used fixed sampling strategy is not…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
We present Adaptic, a novel "hybrid" active/passive haptic device that can change shape to act as a proxy for a range of virtual objects in VR. We use Adaptic with haptic retargeting to redirect the user's hand to provide haptic feedback…
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…
Complex scenes present significant challenges for predicting human behaviour due to the abundance of interaction information, such as human-human and humanenvironment interactions. These factors complicate the analysis and understanding of…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…
Virtual reality simulation is becoming popular as a training platform in surgical education. However, one important aspect of simulation-based surgical training that has not received much attention is the provision of automated real-time…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, Sensorless…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design.…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Although it has been shown that augmented multimodal feedback has a facilitatory effect on motor performance for motor learning and music training, the functionality of haptic feedback combined with other modalities in rhythmic movement…
Animating hand-drawn sketches using traditional tools is challenging and complex. Sketches provide a visual basis for explanations, and animating these sketches offers an experience of real-time scenarios. We propose an approach for…
Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…
Accurate prediction of physical interaction outcomes is a crucial component of human intelligence and is important for safe and efficient deployments of robots in the real world. While there are existing vision-based intuitive physics…