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Single-Pixel Tactile Skin via Compressive Sampling
Ariel Slepyan, Laura Xing, Rudy Zhang +1
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexi…
At First Contact: Stiffness Estimation Using Vibrational Information for Prosthetic Grasp Modulation
Anway S. Pimpalkar, Ariel Slepyan, Nitish V. Thakor
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and…
Invariant neuromorphic representations of tactile stimuli improve robustness of a real-time texture classification system
Mark M. Iskarous, Zan Chaudhry, Fangjie Li +7
Humans have an exquisite sense of touch which robotic and prosthetic systems aim to recreate. We developed algorithms to create neuron-like (neuromorphic) spiking representations o…
Adaptive Compressive Tactile Subsampling: Enabling High Spatiotemporal Resolution in Scalable Robotic Skin
Ariel Slepyan, Dian Li, Hongjun Cai +5
Robots require full-body, high-resolution tactile sensing to operate safely in unstructured environments, enabling reflexive responses and closed-loop control. However, the pixel c…