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09/21/2023
ForceSight: Text-Guided Mobile Manipulation with Visual-Force Goals
We present ForceSight, a system for text-guided mobile manipulation that...
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03/13/2023
Visual Contact Pressure Estimation for Grippers in the Wild
Sensing contact pressure applied by a gripper is useful for autonomous a...
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01/05/2023
Visual Estimation of Fingertip Pressure on Diverse Surfaces using Easily Captured Data
Prior research has shown that deep models can estimate the pressure appl...
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09/30/2022
Force/Torque Sensing for Soft Grippers using an External Camera
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) s...
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04/14/2022
Visual Pressure Estimation and Control for Soft Robotic Grippers
Soft robotic grippers facilitate contact-rich manipulation, including ro...
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03/19/2022
PressureVision: Estimating Hand Pressure from a Single RGB Image
People often interact with their surroundings by applying pressure with ...
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09/22/2021
The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments
Mobile manipulators for indoor human environments can serve as versatile...
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09/10/2021
Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations
While robots present an opportunity to provide physical assistance to ol...
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05/25/2021
Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction
Towards the goal of robots performing robust and intelligent physical in...
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05/20/2021
BodyPressure – Inferring Body Pose and Contact Pressure from a Depth Image
Contact pressure between the human body and its surroundings has importa...
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04/15/2021
ContactOpt: Optimizing Contact to Improve Grasps
Physical contact between hands and objects plays a critical role in huma...
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03/03/2021
Learning to Manipulate Amorphous Materials
We present a method of training character manipulation of amorphous mate...
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12/03/2020
Material Recognition via Heat Transfer Given Ambiguous Initial Conditions
Humans and robots can recognize materials with distinct thermal effusivi...
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07/19/2020
ContactPose: A Dataset of Grasps with Object Contact and Hand Pose
Grasping is natural for humans. However, it involves complex hand config...
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07/09/2020
Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots
Versatile robotic caregivers could benefit millions of people worldwide,...
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04/02/2020
Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data
People spend a substantial part of their lives at rest in bed. 3D human ...
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04/02/2020
Multimodal Material Classification for Robots using Spectroscopy and High Resolution Texture Imaging
Material recognition can help inform robots about how to properly intera...
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10/10/2019
Assistive Gym: A Physics Simulation Framework for Assistive Robotics
Autonomous robots have the potential to serve as versatile caregivers th...
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09/14/2019
Modeling Collaboration for Robot-assisted Dressing Tasks
We investigated the application of haptic aware feedback control and dee...
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07/17/2019
Towards Markerless Grasp Capture
Humans excel at grasping objects and manipulating them. Capturing human ...
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04/15/2019
ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging
Grasping and manipulating objects is an important human skill. Since han...
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04/07/2019
Toward Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned
Eating is an essential activity of daily living (ADL) for staying health...
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04/03/2019
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Robotic assistance presents an opportunity to benefit the lives of many ...
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05/10/2018
Classification of Household Materials via Spectroscopy
Recognizing an object's material can inform a robot on how hard it may g...
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04/21/2018
Estimating 3D Human Pose on a Configurable Bed from a Single Pressure Image
Robots have the potential to assist people in bed, such as in healthcare...
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04/19/2018
Task-centric Optimization of Configurations for Assistive Robots
Robots can provide assistance to a human by moving objects to locations ...
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03/05/2018
In-home and remote use of robotic body surrogates by people with profound motor deficits
People with profound motor deficits could perform useful physical tasks ...
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11/04/2017
A Model that Predicts the Material Recognition Performance of Thermal Tactile Sensing
Tactile sensing can enable a robot to infer properties of its surroundin...
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11/02/2017
A Multimodal Anomaly Detector for Robot-Assisted Feeding Using an LSTM-based Variational Autoencoder
The detection of anomalous executions is valuable for reducing potential...
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09/27/2017
Deep Haptic Model Predictive Control for Robot-Assisted Dressing
Robot-assisted dressing offers an opportunity to benefit the lives of ma...
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07/10/2017
Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks
Material recognition enables robots to incorporate knowledge of material...
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12/31/2012