相关论文: Human-to-Human Strokes Recordings for Tactile Appa…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…
Even simple tactile stimuli can lead to remarkably different perceptions among individuals, both in intensity and pleasantness. To understand the physical factors behind this variation, it is important to investigate how mechanical events…
A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the…
Accurate real-time tracking of dexterous hand movements and interactions has numerous applications in human-computer interaction, metaverse, robotics, and tele-health. Capturing realistic hand movements is challenging because of the large…
In humans, the tactile perception of fine textures is mediated by skin vibrations when scanning the surface with the fingertip. These vibrations are encoded by specific mechanoreceptors, Pacinian corpuscules (PCs), located about 2 mm below…
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…
We present an intuitive human-drone interaction system that utilizes a gesture-based motion controller to enhance the drone operation experience in real and simulated environments. The handheld motion controller enables natural control of…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes…
Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…
Vibrotactile signals offer new possibilities for conveying sensations and emotions in various applications. Yet, designing vibrotactile tactile icons (i.e., Tactons) to evoke specific feelings often requires a trial-and-error process and…
We introduce statistical methods for predicting the types of human activity at sub-second resolution using triaxial accelerometry data. The major innovation is that we use labeled activity data from some subjects to predict the activity…
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…
This article explores natural interaction modalities for human-cyber-physical systems (CPS) interaction in construction. CPS has been applied in construction for many purposes with the promise of improving the safety and productivity of…
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…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch…