相关论文: From Soft Materials to Controllers with NeuroTouch…
Gesture recognition is a very essential technology for many wearable devices. While previous algorithms are mostly based on statistical methods including the hidden Markov model, we develop two dynamic hand gesture recognition techniques…
Neurosim is a fast, real-time, high-performance library for simulating sensors such as dynamic vision sensors, RGB cameras, depth sensors, and inertial sensors. It can also simulate agile dynamics of multi-rotor vehicles in complex and…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors rely on deformation to infer contact, making such…
This paper presents a novel fabric-based thermal-haptic interface for virtual reality and teleoperation. It integrates pneumatic actuation and conductive fabric with an innovative ultra-lightweight design, achieving only 2~g for each finger…
Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…
Hand gesture recognition has been granted as one of the emerging fields in research today providing a natural way of communication between man and a machine. Gestures are some forms of body motions which a person expresses when doing a work…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
This paper comprehensively reviews hand gesture datasets based on Ultraleap's leap motion controller, a popular device for capturing and tracking hand gestures in real-time. The aim is to offer researchers and practitioners a valuable…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Haptic sensations that align with virtual reality (VR) experiences have a profound impact on presence and enjoyment. There is potential to explore the dynamic capabilities of pneumatic inflatables to offer immersive sensations in virtual…
Neuromorphic engineering is essentially the development of artificial systems, such as electronic analog circuits that employ information representations found in biological nervous systems. Despite being faster and more accurate than the…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
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…
Sensing surface vibrations promise unobtrusive interaction for smart home systems by enabling gesture recognition on existing everyday surfaces without disturbing living-space design. Existing approaches typically address only parts of the…
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…