相关论文: Fabric Defect Detection Using Vision-Based Tactile…
Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile…
Machine-vision-based defect classification techniques have been widely adopted for automatic quality inspection in manufacturing processes. This article describes a general framework for classifying defects from high volume data batches…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
Optical tactile sensing holds transformative potential for robotics, particularly in collaborative environments where touch perception enhances safety, adaptability, and cognitive interaction. However, traditional tactile technologies based…
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…
Ensuring traffic safety is crucial, which necessitates the detection and prevention of road surface defects. As a result, there has been a growing interest in the literature on the subject, leading to the development of various road surface…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…
Symmetry is one of the significant visual properties inside an image plane, to identify the geometrically balanced structures through real-world objects. Existing symmetry detection methods rely on descriptors of the local image features…
In this paper, we present the TacShade a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and…
In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feature of ViTacTip is its transparent skin, which incorporates…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Terahertz waves offer numerous advantages for the nondestructive detection of hidden objects/defects in materials, as they can penetrate through most optically-opaque materials. However, existing terahertz inspection systems are restricted…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…
Gaze tracking is an essential component of next generation displays for virtual reality and augmented reality applications. Traditional camera-based gaze trackers used in next generation displays are known to be lacking in one or multiple…
Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…
Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the…