相关论文: An Event-Based Opto-Tactile Skin

Event cameras, or Dynamic Vision Sensor (DVS), are very promising sensors which have shown several advantages over frame based cameras. However, most recent work on real applications of these cameras is focused on 3D reconstruction and…

Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…

Vision-Based Tactile Sensors (VBTSs) stand out for their superior performance due to their high-information content output. Recently, marker-based VBTSs have been shown to give accurate geometry reconstruction when using stereo cameras.…

Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…

Event cameras, or Dynamic Vision Sensors (DVS) are novel neuromorphic sensors that capture brightness changes as a continuous stream of "events" rather than traditional intensity frames. Converting sparse events to dense intensity frames…

High-speed event-driven tactile sensors are essential for achieving human-like dynamic manipulation, yet their integration is often limited by the bulkiness of standard event cameras. This paper presents SpikingTac, a miniaturized, highly…

The Dynamic Vision Sensor (DVS) is an innovative technology that efficiently captures and encodes visual information in an event-driven manner. By combining it with event-driven neuromorphic processing, the sparsity in DVS camera output can…

Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

This paper reports a Dynamic Vision Sensor (DVS) event camera that is 6x more sensitive at 14x lower illumination than existing commercial and prototype cameras. Event cameras output a sparse stream of brightness change events. Their high…

This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External contact forces are converted to magnetic field changes by…

We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…

Neuromorphic (event-based) image sensors draw inspiration from the human-retina to create an electronic device that can process visual stimuli in a way that closely resembles its biological counterpart. These sensors process information…

Dynamic vision sensors (DVS) are bio-inspired devices that capture visual information in the form of asynchronous events, which encode changes in pixel intensity with high temporal resolution and low latency. These events provide rich…

Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…

Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…

The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…

Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…

Autonomous driving systems rely heavily on robust sensor fusion to perceive complex envi- ronments. Traditional setups using RGB cameras and LiDAR often struggle in high-dynamic- range scenes or high-speed scenarios due to motion blur and…

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…