6 accepted papers
Contact sensing and localization capabilities that mimic human skin are highly desirable for robots. In this paper, we introduce AcouSkin, an acoustic wave based full surface contact localization system. Acoustic waves produced by piezoelectric transceivers using a monotone are coupled to surfaces t…
In this paper, we present AmbiSense, an acoustic field based sensing system that performs proximity detection and bearing estimation for safer physical human-robot interactions. A single low cost piezoelectric transducer is used to setup this novel acoustic sensing modality to create a blindspot-fre…
Robot end effectors with proximity detection and contact sensing capabilities can reactively position the gripper to align objects and ensure successful grasps. In this paper, we introduce SonicFinger, an acoustic aura based sensing system capable of full-surface pre-touch and contact sensing. A sin…
Humans have the ability to pour various media, both liquid and granular, to desired ends in various containers. We do this by using multiple senses simultaneously in a constant feedback loop to complete a pouring task. Combining multiple sensing modalities, similar to humans, could aid in robotic po…
Perceiving obstacles and avoiding collisions is fundamental to the safe operation of a robot system, particularly when the robot must operate in highly dynamic human environments. Proximity detection using on-robot sensors can be used to avoid or mitigate impending collisions. However, existing prox…
Collision detection is critical for safe robot operation in the presence of humans. Acoustic information originating from collisions between robots and objects provides opportunities for fast collision detection and localization; however, audio information from microphones on robot manipulators need…