The object perception capabilities of humans are impressive, and this becomes even more
evident when trying to develop solutions with a similar proficiency in autonomous robots …

Proximity sensing detects an object's presence without contact. However, research has
rarely explored proximity sensing in granular materials (GM) due to GM's lack of visual and …

Human–robot handovers constitute a challenging and fundamental aspect of physical
human–robot interaction. This paper describes the design and implementation of a human …

Manipulation tasks often require a high degree of dexterity, typically necessitating grippers
with multiple degrees of freedom (DoF). While a robotic hand equipped with multiple fingers …

While visual sensing is often the predominant modality for a robot to localize objects in the
environment, tactile and force sensing become crucial when objects are occluded, poorly …

The proximity perception of objects in granular materials is significant, especially for
applications like minesweeping. However, due to particles' opacity and complex properties …

Pouring snacks and moving containers with beverages are challenging for a service robot.
To obtain accurate content properties for planning robotic motion, tactile sensing can …

HARVARD UNIVERSITY Graduate School of Arts and Sciences DISSERTATION
ACCEPTANCE CERTIFICATE The undersigned, appointed by the Ha Page 1 HARVARD …

Robots rely on vision and touch as primary means to perceive and interact with the external
environment. In scenarios where visual perception is limited or unavailable, tactile sensing …

Tactile information is valuable when it comes to hundreds of varying contents of the
deformable containers in real world. Even so, it is hard to have details of contents only from …