相关论文: Tactile Gesture Recognition with Built-in Joint Se…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
Robots can better interact with humans and unstructured environments through touch sensing. However, most commercial robots are not equipped with tactile skins, making it challenging to achieve even basic touch-sensing functions, such as…
Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…
When humans socially interact with another agent (e.g., human, pet, or robot) through touch, they do so by applying varying amounts of force with different directions, locations, contact areas, and durations. While previous work on touch…
This study introduces an advanced gesture recognition and user interface (UI) interaction system powered by deep learning, highlighting its transformative impact on UI design and functionality. By utilizing optimized convolutional neural…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…
Online recognition of gestures is critical for intuitive human-robot interaction (HRI) and further push collaborative robotics into the market, making robots accessible to more people. The problem is that it is difficult to achieve accurate…
Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…
With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…
Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…
The ability to perform locomotion in various terrains is critical for legged robots. However, the robot has to have a better understanding of the surface it is walking on to perform robust locomotion on different terrains. Animals and…
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…
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…
New and more natural human-robot interfaces are of crucial interest to the evolution of robotics. This paper addresses continuous and real-time hand gesture spotting, i.e., gesture segmentation plus gesture recognition. Gesture patterns are…
Humans are able to convey different messages using only touch. Equipping robots with the ability to understand social touch adds another modality in which humans and robots can communicate. In this paper, we present a social gesture…
In recent years robots have become an important part of our day-to-day lives with various applications. Human-robot interaction creates a positive impact in the field of robotics to interact and communicate with the robots. Gesture…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…