相关论文: Acoustic Sensing for Universal Jamming Grippers
Perceptual processes are frequently multi-modal. This is the case of haptic perception. Data sets of visual and haptic sensory signals have been compiled in the past, especially when it comes to the exploration of textured surfaces. These…
Granular jamming is a popular soft actuation mechanism that provides high stiffness variability with minimum volume variation. Jamming is particularly interesting from a design perspective, as a myriad of design parameters can potentially…
We propose a Perceiver-based sequence classifier to detect abnormalities in speech reflective of several neurological disorders. We combine this classifier with a Universal Speech Model (USM) that is trained (unsupervised) on 12 million…
Recent developments in large speech foundation models like Whisper have led to their widespread use in many automatic speech recognition (ASR) applications. These systems incorporate `special tokens' in their vocabulary, such as…
Optical whispering gallery mode microcavity acoustic sensors have emerged significant potential in high-sensitivity acoustic signal detection, but the narrow dynamic range limits the application prospect. To address the challenge, we…
The existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols. Despite this knowledge and the fact that tactile-based…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
The current methods of assessing tendon health such as clinical examination, imaging techniques, and implanted pressure sensors, are often based on a subjective assessment or are not accurate enough, are extremely expensive, or are limited…
As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…
Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…
This study introduces an innovative vibrotactile display that harnesses audio speakers to convey tactile information to the fingertips while preserving the display's softness and flexibility. Our proposed system integrates a flexible…
This paper presents a new method for parallel-jaw grasping of isolated objects from depth images, under large gripper pose uncertainty. Whilst most approaches aim to predict the single best grasp pose from an image, our method first…
We present SoundMorpher, an open-world sound morphing method designed to generate perceptually uniform morphing trajectories. Traditional sound morphing techniques typically assume a linear relationship between the morphing factor and sound…
Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
We present a generalized grasping algorithm that uses point clouds (i.e. a group of points and their respective surface normals) to discover grasp pose solutions for multiple grasp types, executed by a mechanical gripper, in near real-time.…
Audio is a rich sensing modality that is useful for a variety of human activity recognition tasks. However, the ubiquitous nature of smartphones and smart speakers with always-on microphones has led to numerous privacy concerns and a lack…
We introduce a novel design of parallel-jaw grippers drawing inspiration from pin-pression toys. The proposed pin-pression gripper features a distinctive mechanism in which each finger integrates a 2D array of pins capable of independent…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
Conformers have shown great results in speech processing due to their ability to capture both local and global interactions. In this work, we utilize a self-supervised contrastive learning framework to train conformer-based encoders that…