相关论文: Acoustic Sensing for Universal Jamming Grippers
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
Quantum sensing utilizes quantum systems as sensors to capture weak signal, and provides new opportunities in nowadays science and technology. The strongest adversary in quantum sensing is decoherence due to the coupling between the sensor…
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…
Recent work on audio-visual navigation assumes a constantly-sounding target and restricts the role of audio to signaling the target's position. We introduce semantic audio-visual navigation, where objects in the environment make sounds…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
As computing devices become increasingly integrated into daily life, there is a growing need for intuitive, always-available interaction methods, even when users' hands are occupied. In this paper, we introduce Grab-n-Go, the first wearable…
Robotic grippers with visuotactile sensors have access to rich tactile information for grasping tasks but encounter difficulty in partially encompassing large objects with sufficient grip force. While hierarchical gecko-inspired adhesives…
We describe a system for interrogating the acoustic properties of sub-nanoliter liquid samples within an open microfluidics platform. Sessile droplets were deposited onto integrated optomechanical sensors, which possess…
Embedding acoustic information into fixed length representations is of interest for a whole range of applications in speech and audio technology. Two novel unsupervised approaches to generate acoustic embeddings by modelling of acoustic…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Modern optical mouse sensors, with their advanced precision and high responsiveness, possess an often overlooked vulnerability: they can be exploited for side-channel attacks. This paper introduces Mic-E-Mouse, the first-ever side-channel…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
We demonstrate a microfabricated optomechanical accelerometer that is capable of percent-level accuracy without external calibration. To achieve this capability, we use a mechanical model of the device behavior that can be characterized by…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
The speech signal is a consummate example of time-series data. The acoustics of the signal change over time, sometimes dramatically. Yet, the most common type of comparison we perform in phonetics is between instantaneous acoustic…
Our hands serve as a fundamental means of interaction with the world around us. Therefore, understanding hand poses and interaction context is critical for human-computer interaction. We present EchoWrist, a low-power wristband that…
The varied landscape of robotic hand designs makes it difficult to set a standard for how to measure hand size and to communicate the size of objects it can grasp. Defining consistent workspace measurements would greatly assist scientific…
This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will…
Purpose: One of the major reasons that totally implantable cochlear microphones are not readily available is the lack of good implantable microphones. An implantable microphone has the potential to provide a range of benefits over external…