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

Distributed Acoustic Sensing (DAS) is becoming increasingly popular in microseismic monitoring operations. This data acquisition technology converts fiber-optic cables into dense arrays of seismic sensors that can sample the seismic…

This paper proposes a novel method for human hands tracking using data from an event camera. The event camera detects changes in brightness, measuring motion, with low latency, no motion blur, low power consumption and high dynamic range.…

We present an automated approach to detect and longitudinally track skin lesions on 3D total-body skin surface scans. The acquired 3D mesh of the subject is unwrapped to a 2D texture image, where a trained objected detection model, Faster…

We present MidasTouch, a tactile perception system for online global localization of a vision-based touch sensor sliding on an object surface. This framework takes in posed tactile images over time, and outputs an evolving distribution of…

Vision-based tactile sensors have been widely studied in the robotics field for high spatial resolution and compatibility with machine learning algorithms. However, the currently employed sensor's imaging system is bulky limiting its…

Event cameras, often referred to as dynamic vision sensors, are groundbreaking sensors capable of capturing changes in light intensity asynchronously, offering exceptional temporal resolution and energy efficiency. These attributes make…

In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…

We proposed a new type of tactile sensor that is capable of determining the surface morphology of skin lesions. The sensor consists of a brass cylinder with an axial bore. Three peripheral bobbins were machined in the cylinder around which…

Deep generative models have various content creation applications such as graphic design, e-commerce, and virtual Try-on. However, current works mainly focus on synthesizing realistic visual outputs, often ignoring other sensory modalities,…

Neuromorphic vision-based sensors are gaining popularity in recent years with their ability to capture Spatio-temporal events with low power sensing. These sensors record events or spikes over traditional cameras which helps in preserving…

This study presents a novel approach for touch sensing using semi-elastic textile surfaces that does not require the placement of additional sensors in the sensing area, instead relying on sensors located on the border of the textile. The…

The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…

Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…

We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…

Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…

Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…

Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…

Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…

With the development of VR technology, especially the emergence of the metaverse concept, the integration of visual and tactile perception has become an expected experience in human-machine interaction. Therefore, achieving spatial-temporal…

Small unmanned aerial vehicle (UAV)-based visual inspections are a more efficient alternative to manual methods for examining civil structural defects, offering safe access to hazardous areas and significant cost savings by reducing labor…