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Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…

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…

The ability to reconstruct the kinematic parameters of hand movement using non-invasive electroencephalography (EEG) is essential for strength and endurance augmentation using exosuit/exoskeleton. For system development, the conventional…

Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…

Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…

Brain-computer interfaces are being explored for a wide variety of therapeutic applications. Typically, this involves measuring and analyzing continuous-time electrical brain activity via techniques such as electrocorticogram (ECoG) or…

Human gesture recognition has assumed a capital role in industrial applications, such as Human-Machine Interaction. We propose an approach for segmentation and classification of dynamic gestures based on a set of handcrafted features, which…

This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered…

The incorporation of advanced control algorithms into prosthetic hands significantly enhances their ability to replicate the intricate motions of a human hand. This work introduces a model-based controller that combines an Artificial Neural…

Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…

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…

Vision-based tactile sensors have the potential to provide important contact geometry to localize the objective with visual occlusion. However, it is challenging to measure high-resolution 3D contact geometry for a compact robot finger, to…

Ultrasound imaging of the forearm has demonstrated significant potential for accurate hand gesture classification. Despite this progress, there has been limited focus on developing a stand-alone end- to-end gesture recognition system which…

Manipulation of thin materials is critical for many everyday tasks and remains a significant challenge for robots. While existing research has made strides in tasks like material smoothing and folding, many studies struggle with common…

Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…

One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…

Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

Gesture recognition is one of the most intuitive ways of interaction and has gathered particular attention for human computer interaction. Radar sensors possess multiple intrinsic properties, such as their ability to work in low…

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…