相关论文: Multimodal Proximity and Visuotactile Sensing With…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…
We tackle a challenging task: multi-view and multi-modal event detection that detects events in a wide-range real environment by utilizing data from distributed cameras and microphones and their weak labels. In this task, distributed…
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the operator from contact forces, which hinders the…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…
For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…
Dexterous manipulation is a cornerstone capability for robotic systems aiming to interact with the physical world in a human-like manner. Although vision-based methods have advanced rapidly, tactile sensing remains crucial for fine-grained…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the…