5 papers
VecTile: A Low-Cost Flexible Tactile Array for 3-DoF Force Sensing
Jian Hou, Xin Zhou, Adam J. Spiers
Tactile sensing provides robots with contact information difficult to obtain from vision alone. Shear force is particularly important for understanding tangential contact, guiding…
UniTac-NV: A Unified Tactile Representation For Non-Vision-Based Tactile Sensors
Jian Hou, Xin Zhou, Qihan Yang +1
Generalizable algorithms for tactile sensing remain underexplored, primarily due to the diversity of sensor modalities. Recently, many methods for cross-sensor transfer between opt…
Investigating the Perception of Translational Shape-Changing Haptic Interfaces
Qihan Yang, Xin Zhou, Adam J. Spiers
Shape-changing haptic interfaces (SCHIs) are a promising and emerging field. However, compared to more established stimulus modalities, such as vibration, there is sparse literatur…
Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning
Qiyang Yan, Zihan Ding, Xin Zhou +1
Dexterous in-hand manipulation (IHM) for arbitrary objects is challenging due to the rich and subtle contact process. Variable-friction manipulation is an alternative approach to d…
Multi-feature Compensatory Motion Analysis for Reaching Motions Over a Discretely Sampled Workspace
Qihan Yang, Yuri Gloumakov, Adam J. Spiers
The absence of functional arm joints, such as the wrist, in upper extremity prostheses leads to compensatory motions in the users' daily activities. Compensatory motions have been…