14 papers
SpikeATac: A Multimodal Tactile Finger with Taxelized Dynamic Sensing for Dexterous Manipulation
Eric T. Chang, Peter Ballentine, Zhanpeng He +8
In this work, we introduce SpikeATac, a multimodal tactile finger combining a taxelized and highly sensitive dynamic response (PVDF) with a static transduction method (capacitive)…
VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation
Kaidi Zhang, Do-Gon Kim, Eric T. Chang +6
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work,…
ReactEMG Stroke: Healthy-to-Stroke Few-shot Adaptation for sEMG-Based Intent Detection
Runsheng Wang, Katelyn Lee, Xinyue Zhu +4
Surface electromyography (sEMG) is a promising control signal for assist-as-needed hand rehabilitation after stroke, but detecting intent from paretic muscles often requires length…
MiniBEE: A New Form Factor for Compact Bimanual Dexterity
Sharfin Islam, Zewen Chen, Zhanpeng He +8
Bimanual robot manipulators can achieve impressive dexterity, but typically rely on two full six- or seven- degree-of-freedom arms so that paired grippers can coordinate effectivel…
Compact LED-Based Displacement Sensing for Robot Fingers
Amr El-Azizi, Sharfin Islam, Pedro Piacenza +3
In this paper, we introduce a sensor designed for integration in robot fingers, where it can provide information on the displacements induced by external contact. Our sensor uses L…
Tactile-based Object Retrieval From Granular Media
Jingxi Xu, Yinsen Jia, Dongxiao Yang +5
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many ap…