In this paper we describe ongoing work toward eventdriven dextrous manipulation. In this context, the events are primarily determined through tactile and force/torque sensing. We begin with a review of recent work in tactile event detection and its role in the control of manipulation. We then consider control issues, focusing on the problem of accomplishing smooth transitions as the constraints...

High-density tactile sensing has been pursued for humanoid robotic hands to obtain contact force information while the elastomer skin cover is traditionally considered to impair the force discrimination. In this work, we try to utilize the diffusion effect of the elastomer cover to identify an arbitrary contact force load just based on a sparse tactile sensor array. By numerical analysis, we pr...

Observed breakdowns in human-machine communication can be explained, in part, by the nature of current automation feedback, which relies heavily on focal visual attention. Such feedback is not well suited for capturing attention in case of unexpected changes and events or for supporting the parallel processing of large amounts of data in complex domains. As suggested by multiple-resource theory...

Haptic feedback is a crucial sensorial modality in virtual reality interactions. Haptics means both force feedback (simulating object hardness, weight, and inertia) and tactile feedback (simulating surface contact geometry, smoothness, slippage, and temperature). Providing such sensorial data requires desk-top or portable special-purpose hardware called haptic interfaces. Modeling physical inte...

Correlations between personality traits and a wide range of sensory thresholds were examined. Participants (N = 124) completed a personality inventory (NEO-FFI) and underwent assessment of olfactory, trigeminal, tactile and gustatory detection thresholds, as well as examination of trigeminal and tactile pain thresholds. Significantly enhanced odor sensitivity in socially agreeable people, signi...

This paper describes short range and tactile optical fibre sensors for marine applications. The sensors are designed for obstacle avoidance on unmanned underwater vehicles (UUVs) operating in confined spaces, but have other possible applications. The fibre sensors augment the sensory abilities derived from ultrasonic and other sensors employed for marine proximity measurement. Of particular int...

Haptic feedback is a crucial sensorial modality in virtual reality interactions. Haptics means both force feedback (simulating object hardness, weight, and inertia) and tactile feedback (simulating surface contact geometry, smoothness, slippage, and temperature). Providing such sensorial data requires desk-top or portable special-purpose hardware called haptic interfaces. Modeling physical inte...

Abclracl. A critical evaluation of t h e state of t h e art in tactile sensing is presented. Various fields of application such as prosthetic and teleoperation are covered, but particular attention is paid to advanced robotics, where most of t he recent developments have taken place. In addition, tactile sensing modalities are discussed in some detail through reference to basic issues of contac...

A tactile sensor system, based upon the electric field distortion, is proposed. Tactile sensors, detecting electric resistance or capacitance, have two opposing electrodes in general. Such structure have difficulty to make flexible sensor sheet, which is needed for robotic manipulator or other skin like sensing purpose. In this study, a sensing system with one electrode, embedded in conducting ...

A stretchable tactile sensor skin has been demonstrated on the dorsal side of a robotic hand for the first time. The sensors can detect normal pressures on the same scale as human skin but also in excess of 250 kPa and withstand strains in excess of 15%. Using tactile information from the sensors mounted on a glove worn by a humanoid robot’s hand, obstacle detection and surface reconstruction t...