相关论文: Audio-based Roughness Sensing and Tactile Feedback…
In the realm of robot action recognition, identifying distinct but spatially proximate arm movements using vision systems in noisy environments poses a significant challenge. This paper studies robot arm action recognition in noisy…
This study introduces an innovative vibrotactile display that harnesses audio speakers to convey tactile information to the fingertips while preserving the display's softness and flexibility. Our proposed system integrates a flexible…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
We present a new method to capture the acoustic characteristics of real-world rooms using commodity devices, and use the captured characteristics to generate similar sounding sources with virtual models. Given the captured audio and an…
Environmental sounds like footsteps, keyboard typing, or dog barking carry rich information and emotional context, making them valuable for designing haptics in user applications. Existing audio-to-vibration methods, however, rely on…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
We explore the interpretation of sound for robot decision making, inspired by human speech comprehension. While previous methods separate sound processing unit and robot controller, we propose an end-to-end deep neural network which…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…
Audio perception is a key to solving a variety of problems ranging from acoustic scene analysis, music meta-data extraction, recommendation, synthesis and analysis. It can potentially also augment computers in doing tasks that humans do…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Humans are capable of completing a range of challenging manipulation tasks that require reasoning jointly over modalities such as vision, touch, and sound. Moreover, many such tasks are partially-observed; for example, taking a notebook out…
Current Virtual Reality (VR) environments lack the rich haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR…
A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…
The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Human perception of surrounding events is strongly dependent on audio cues. Thus, acoustic insulation can seriously impact situational awareness. We present an exploratory study in the domain of assistive computing, eliciting requirements…