相关论文: Real-Time Tactile Grasp Force Sensing Using Finger…

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 a tactile-sensorized Fin-Ray finger that enables simultaneous detection of contact location and indentation depth through an indirect sensing approach. A hinge mechanism is integrated between the soft Fin-Ray structure and a…

In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…

Many robotic surgical systems have been developed with micro-sized forceps for tissue manipulation. However, these systems often lack force sensing at the tool side and the manipulation forces are roughly estimated and controlled relying on…

Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…

We present a method for the real-time estimation of the full 3D pose of one or more human hands using a single commodity RGB camera. Recent work in the area has displayed impressive progress using RGBD input. However, since the introduction…

This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…

3D hand pose estimation from a single depth image plays an important role in computer vision and human-computer interaction. Although recent hand pose estimation methods using convolution neural network (CNN) have shown notable improvements…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…

Needle insertion is common during minimally invasive interventions such as biopsy or brachytherapy. During soft tissue needle insertion, forces acting at the needle tip cause tissue deformation and needle deflection. Accurate needle tip…

Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…

This paper presents a novel haptic device DeltaFinger designed to deliver the force of interaction with virtual objects by guiding user's finger with wearable delta mechanism. The developed interface is capable to deliver 3D force vector to…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

Many vision based applications have used fingertips to track or manipulate gestures in their applications. Gesture identification is a natural way to pass the signals to the machine, as the human express its feelings most of the time with…

Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…

Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…

Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…

This work addresses a novel and challenging problem of estimating the full 3D hand shape and pose from a single RGB image. Most current methods in 3D hand analysis from monocular RGB images only focus on estimating the 3D locations of hand…