相关论文: An Event-Based Opto-Tactile Skin
The biological skin enables animals to sense various stimuli. Extensive efforts have been made recently to develop smart skin-like sensors to extend the capabilities of biological skins; however, simultaneous sensing of several types of…
In this work, we present optical space imaging using an unconventional yet promising class of imaging devices known as neuromorphic event-based sensors. These devices, which are modeled on the human retina, do not operate with frames, but…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential displacement but completely occlude geometric features…
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
Tactile skins based on Electrical Impedance Tomography (EIT) enable large-area contact localization with few electrodes, but suffer from nonuniform sensitivity that limits force estimation accuracy. This work introduces a dual-channel…
Event vision sensors (neuromorphic cameras) output sparse, asynchronous ON/OFF events triggered by log-intensity threshold crossings, enabling microsecond-scale sensing with high dynamic range and low data bandwidth. As a nonlinear system,…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
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…
We demonstrate the suitability of high dynamic range, high-speed, neuromorphic event-based, dynamic vision sensors for metallic additive manufacturing and welding for in-process monitoring applications. In-process monitoring to enable…
A neuromorphic camera is an image sensor that emulates the human eyes capturing only changes in local brightness levels. They are widely known as event cameras, silicon retinas or dynamic vision sensors (DVS). DVS records asynchronous…
This paper introduces a neuromorphic methodology for eye tracking, harnessing pure event data captured by a Dynamic Vision Sensor (DVS) camera. The framework integrates a directly trained Spiking Neuron Network (SNN) regression model and…
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
Dynamic Vision Sensors (DVS) capture event data with high temporal resolution and low power consumption, presenting a more efficient solution for visual processing in dynamic and real-time scenarios compared to conventional video capture…
Event cameras or dynamic vision sensors (DVS) record asynchronous response to brightness changes instead of conventional intensity frames, and feature ultra-high sensitivity at low bandwidth. The new mechanism demonstrates great advantages…