相关论文: A Virtual 2D Tactile Array for Soft Actuators Usin…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…
Beyond a simple notification of incoming calls or messages, more complex information such as alphabets and digits can be delivered through spatiotemporal tactile patterns (STPs) on a wrist-worn tactile display (WTD) with multiple tactors.…
In this work, we use MEMS microphones as vibration sensors to simultaneously classify texture and estimate contact position and velocity. Vibration sensors are an important facet of both human and robotic tactile sensing, providing fast…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
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…
The first stage of tactile sensing is data acquisition using tactile sensors and the sensed data is transmitted to the central unit for neuromorphic computing. The memristive crossbars were proposed to use as synapses in neuromorphic…
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
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…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the…
High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can cause jamming or excessive interaction forces, making robust and safe insertion policies difficult to obtain. This paper proposes a…
We describe a system for interrogating the acoustic properties of sub-nanoliter liquid samples within an open microfluidics platform. Sessile droplets were deposited onto integrated optomechanical sensors, which possess…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor's spatial resolution is about…
Wireless earbuds are an appealing platform for wearable computing on-the-go. However, their small size and out-of-view location mean they support limited different inputs. We propose finger identification input on earbuds as a novel…
Robots require full-body, high-resolution tactile sensing to operate safely in unstructured environments, enabling reflexive responses and closed-loop control. However, the pixel counts needed for dense, large-area coverage limit readout…