相关论文: Between-Tactor Display Using Dynamic Tactile Stimu…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
Pseudo-haptic techniques are used to modify haptic perception by appropriately changing visual feedback to body movements. Based on the knowledge that tendon vibration can affect our somatosensory perception, this paper proposes a method…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Simulating tactile sensors is thus a…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
Haptic rendering enables people to touch, perceive, and manipulate virtual objects in a virtual environment. Using six cascaded identical hollow disk electromagnets and a small permanent magnet attached to an operator's finger, this paper…
Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
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…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
Providing vibrotactile feedback that corresponds to the state of the virtual texture surfaces allows users to sense haptic properties of them. However, hand-tuning such vibrotactile stimuli for every state of the texture takes much time.…
Haptic rendering of weight plays an essential role in naturalistic object interaction in virtual environments. While kinesthetic devices have traditionally been used for this aim by applying forces on the limbs, tactile interfaces acting on…
In the interactive segmentation, users initially click on the target object to segment the main body and then provide corrections on mislabeled regions to iteratively refine the segmentation masks. Most existing methods transform these…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
Tactile perception is essential for embodied agents to understand physical attributes of objects that cannot be determined through visual inspection alone. While existing approaches have made progress in visual and language modalities for…