相关论文: HumanFT: A Human-like Fingertip Multimodal Visuo-T…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
We present a novel underactued humanoid five finger soft hand, the KIT \softhand, which is equipped with cameras in the fingertips and integrates a high performance embedded system for visual processing and control. We describe the…
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…
Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
Humans are able to convey different messages using only touch. Equipping robots with the ability to understand social touch adds another modality in which humans and robots can communicate. In this paper, we present a social gesture…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
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…
Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Aiming to replicate human-like dexterity, perceptual experiences, and motion patterns, we explore learning from human demonstrations using a bimanual system with multifingered hands and visuotactile data. Two significant challenges exist:…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
This paper presents a novel haptic device DeltaFinger designed to deliver the force of interaction with virtual objects by guiding user's finger with wearable delta mechanism. The developed interface is capable to deliver 3D force vector to…
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…
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…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
Touch is a fundamental aspect of emotion-rich communication, playing a vital role in human interaction and offering significant potential in human-robot interaction. Previous research has demonstrated that a sparse representation of human…