相关论文: Perceptually Lossless Tactile Texture Synthesis wi…

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

This article introduces a new parametric synthesis method for sound textures based on existing works in visual and sound texture synthesis. Starting from a base sound signal, an optimization process is performed until the cross-correlations…

Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…

Texture synthesis is widely used in the field of computer graphics, vision, and image processing. In the present paper, a texture synthesis algorithm is proposed for near-regular natural textures with the help of a representative periodic…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Simulating tactile sensors is thus a…

Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…

Vibrotactile signals offer new possibilities for conveying sensations and emotions in various applications. Yet, designing vibrotactile tactile icons (i.e., Tactons) to evoke specific feelings often requires a trial-and-error process and…

With the increase in interest in deployment of robots in unstructured environments to work alongside humans, the development of human-like sense of touch for robots becomes important. In this work, we implement a multi-channel neuromorphic…

Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…

We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

The main challenge of dynamic texture synthesis lies in how to maintain spatial and temporal consistency in synthesized videos. The major drawback of existing dynamic texture synthesis models comes from poor treatment of the long-range…

Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unified representation that captures the shared information…

Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…

Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…

Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…