相关论文: Exploring Interference between Concurrent Skin Str…
Immersive Virtual Reality typically requires a head-mounted display (HMD) to visualize the environment and hand-held controllers to interact with the virtual objects. Recently, many applications display full-body avatars to represent the…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
Measurement of pressure distribution applied to a fingertip is crucial for the teleoperation of robots and human computer interface. Previous studies have acquired pressure distribution by affixing a sensor array to the fingertip or by…
Friction modulation allows for a range of different sensations and textures to be simulated on flat touchscreens, yet is largely unable to render fundamental tactile interactions such as path following or shape discrimination due to lack of…
Human visual system has the strong ability to quick assess the perceptual similarity between two facial sketches. However, existing two widely-used facial sketch metrics, e.g., FSIM and SSIM fail to address this perceptual similarity in…
Part-based models with restrictive tree-structured interactions for the Human Pose Estimation problem, leaves many part interactions unhandled. Two of the most common and strong manifestations of such unhandled interactions are…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
The human dosimetry for electromagnetic field exposure is an essential task to develop exposure guidelines/standards for human safety as well as product safety assessment. At frequencies from a few hundred Hz to 10 MHz, the adverse effect…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
Perceiving spatial information of a virtual object (e.g, direction, distance) is critical yet challenging for blind users seeking an immersive virtual reality (VR) experience. To facilitate VR accessibility for blind users, in this paper,…
We present Model-Predictive Interaction Primitives -- a robot learning framework for assistive motion in human-machine collaboration tasks which explicitly accounts for biomechanical impact on the human musculoskeletal system. First, we…
Playing back vibrotactile signals through actuators is commonly used to simulate tactile feelings of virtual textured surfaces. However, there is often a small mismatch between the simulated tactile feelings and intended tactile feelings by…
Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Human perception is based on unconscious inference, where sensory input integrates with prior information. This phenomenon, known as context dependency, helps in facing the uncertainty of the external world with predictions built upon…
We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins offer a flexible form factor for hand-wide coverage with fast…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion…
Artificial self-perception is the machine ability to perceive its own body, i.e., the mastery of modal and intermodal contingencies of performing an action with a specific sensors/actuators body configuration. In other words, the…