相关论文: GelLink: A Compact Multi-phalanx Finger with Visio…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
With the rapid development of Rehabilitation Lower Extremity Robotic Exoskeletons (RLEEX) technology, significant advancements have been made in Human-Robot Interaction (HRI) methods. These include traditional physical HRI methods that are…
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In this paper, we propose Taxim, a realistic and…
In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…
The use of tiny devices capable of low-latency gesture recognition is gaining momentum in everyday human-computer interaction and especially in medical monitoring fields. Embedded solutions such as fall detection, rehabilitation tracking,…
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer-vision techniques. However, their physical design and the information they provide do not…
This paper presents a novel underactuated adaptive robotic hand, Hockens-A Hand, which integrates the Hoeckens mechanism, a double-parallelogram linkage, and a specialized four-bar linkage to achieve three adaptive grasping modes: parallel…
The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device, designed with thin…
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic operations, proposing great potential for enhancing user…
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relevant signals of a sensor-fused wearable…
Recent vision-language-action (VLA) models build upon vision-language foundations, and have achieved promising results and exhibit the possibility of task generalization in robot manipulation. However, due to the heterogeneity of tactile…
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…