4 accepted papers
This letter presents an algorithm to simultaneously reconstruct the geometry of an unknown object and its environment via physical interactions. Applications involving highly cluttered or occluded workspaces prevent the effective use of vision. To address some of the challenges that arise, we propos
We present a wearable skin stretch device for the forearm. It is composed of four cylindrical end effectors, evenly distributed around the user's forearm. They can generate independent skin stretch stimuli at the palmar, dorsal, ulnar, and radial sides of the arm. When the four end effectors rotate
Underactuated and compliant hands, frequently referred to as soft hands, have been recently proposed to overcome common issues of multifingered robotic hands. Although several prototypes have been developed, there is still a lack of systematic ways to model and control these devices to get grasps ex
This letter presents a strategy to represent data from a tactile array sensor and match it to an object's geometric features. Using that representation, a method is presented to localise a grasped object within a robot hand. The method consists of computing the covariance matrix in the tactile senso