相关论文: BubbleTouch: A Quasi-Static Tactile Skin Simulator

Physical touch, a fundamental aspect of human social interaction, remains largely absent in real-time virtual communication. We present a haptic-enabled multi-user Virtual Reality (VR) system that facilitates real-time, bi-directional…

Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…

Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact detection and…

This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…

Three-dimensional (3D) applications have come to every corner of life. We present 3DTouch, a novel 3D wearable input device worn on the fingertip for interacting with 3D applications. 3DTouch is self-contained, and designed to universally…

We present SimShear, a sim-to-real pipeline for tactile control that enables the use of shear information without explicitly modeling shear dynamics in simulation. Shear, arising from lateral movements across contact surfaces, is critical…

Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…

This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…

Perceptual hallucinations are present in neurological and psychiatric disorders and amputees. While the hallucinations can be drug-induced, it has been described that they can even be provoked in healthy subjects. Understanding their…

Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…

For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor…

This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A…

Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Element Method (FEM). However, elastomer…

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…

We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many applications, ranging from mining and exploration to search…

Self-touch gestures (e.g., nuanced facial touches and subtle finger scratches) provide rich insights into human behaviors, from hygiene practices to health monitoring. However, existing approaches fall short in detecting such micro gestures…

The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…

High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…