相关论文: Friction-Scaled Vibrotactile Feedback for Real-Tim…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place.…
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
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…
New computational devices, in particular wearable devices, offer the unique property of always being available and thus to be able to constantly update the user with information, such as by notifications. While research has been done in…
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitance, or force-torque measurements face fundamental trade-offs…
Wearable biosensor technology enables real-time, convenient, and continuous monitoring of users behavioral signals. Such include signals relative to body motion, body temperature, biological or biochemical markers, and individual grip…
Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
Nowadays, mobile smart devices are widely used in daily life. It is increasingly important to prevent malicious users from accessing private data, thus a secure and convenient authentication method is urgently needed. Compared with common…
This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…