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Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…

Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…

Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of…

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…

Wi-Fi sensing has emerged as a powerful non-intrusive technology for recognizing human activities, monitoring vital signs, and enabling context-aware applications using commercial wireless devices. However, the performance of Wi-Fi sensing…

We propose the next evolution of the artificial sense of touch, including an in-depth examination of the latest advancements in tactile sensing technology and the challenges that remain. We delve into the forefront of DNA and nanomaterials…

Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…

In future cellular systems, wireless localization and sensing functions will be built-in for specific applications, e.g., navigation, transportation, and healthcare, and to support flexible and seamless connectivity. Driven by this trend,…

Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…

Wireless sensing is of great benefits to our daily lives. However, wireless signals are sensitive to the surroundings. Various factors, e.g. environments, locations, and individuals, may induce extra impact on wireless propagation. Such a…

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…

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…

Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…

Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact…

While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasping and in-hand manipulation. We propose a novel sensor…

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…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

In this paper we describe EasyInterface, an open-source toolkit for rapid development of web-based graphical user interfaces (GUIs). This toolkit addresses the need of researchers to make their research prototype tools available to the…

The development of smart textile interfaces is hindered by the inclusion of rigid hardware components and batteries within the fabric, which pose challenges in terms of manufacturability, usability, and environmental concerns related to…

Conducting user studies that involve physiological and behavioral measurements is very time-consuming and expensive, as it not only involves a careful experiment design, device calibration, etc. but also a careful software testing. We…