相关论文: ElectroAR: Distributed Electro-tactile Stimulation…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
This letter studies a vertical federated edge learning (FEEL) system for collaborative objects/human motion recognition by exploiting the distributed integrated sensing and communication (ISAC). In this system, distributed edge devices…
Event cameras are novel sensors that perceive the per-pixel intensity changes and output asynchronous event streams with high dynamic range and less motion blur. It has been shown that events alone can be used for end-task learning, e.g.,…
Assisted Reality (aR) is a subfield of Augmented Reality (AR) that overlays information onto a user's immediate view via see-through head-mounted displays (OST-HMDs). This technology has proven to be effective and energy-efficient to…
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commercial systems have begun to introduce force…
Human activity recognition (HAR) is essential for effective Human-Robot Collaboration (HRC), enabling robots to interpret and respond to human actions. This study evaluates the ability of a vision-based tactile sensor to classify 15…
Robotic microsurgery demands precise bimanual control, intuitive interaction, and informative force feedback. However, most training platforms for robotic microsurgery lack immersive 3D interaction and high-fidelity haptics. Here, we…
Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill…
This study introduces a novel haptic device for enhancing dexterous manipulation in virtual reality. By stimulating mechanoreceptors on both sides of the fingernail, our lightweight system simulates tangential force sensations. We employ…
Display of illusory vibration locations between physical vibrotactile motors (tactors) placed on the skin has the potential to reduce the number of tactors in distributed tactile displays. This paper presents a between-tactor display method…
Human activity recognition (HAR) by wearable sensor devices embedded in the Internet of things (IOT) can play a significant role in remote health monitoring and emergency notification, to provide healthcare of higher standards. The purpose…
Robots are now increasingly integrated into various real world applications and domains. In these new domains, robots are mostly employed to improve, in some ways, the work done by humans. So, the need for effective Human-Robot Teaming…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
This paper introduces Smooth-Distill, a novel self-distillation framework designed to simultaneously perform human activity recognition (HAR) and sensor placement detection using wearable sensor data. The proposed approach utilizes a…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…
For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, interaction strategies for such cases have not yet been considered properly, especially…
Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better…
Recent advancements in imitation learning have shown promising results in robotic manipulation, driven by the availability of high-quality training data. To improve data collection efficiency, some approaches focus on developing specialized…
Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Two significant challenges exist:…