相关论文: A Soft Robotic Cover with Dual Thermal Display and…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Effective communication of robotic touch intent is a key factor in promoting safe and predictable physical human-robot interaction (pHRI). While intent communication has been widely studied, existing approaches lack the spatial specificity…
Many robotic hands currently rely on extremely dexterous robotic fingers and a thumb joint to envelop themselves around an object. Few hands focus on the palm even though human hands greatly benefit from their central fold and soft surface.…
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…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…
Grasping objects requires tight integration between visual and tactile feedback. However, there is an inherent difference in the scale at which both these input modalities operate. It is thus necessary to be able to analyze tactile feedback…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…
This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multimodal perception and dual (software and hardware) compliance…
Touch is one of the most intuitive ways for humans to interact with the world, and as we advance toward a ubiquitous computing environment where technology seamlessly integrates into daily life, natural interaction methods are essential.…
Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work.…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
Transparent object perception is a rapidly developing research problem in artificial intelligence. The ability to perceive transparent objects enables robots to achieve higher levels of autonomy, unlocking new applications in various…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…