3,834 research outputs found
TactileGCN: A Graph Convolutional Network for Predicting Grasp Stability with Tactile Sensors
Tactile sensors provide useful contact data during the interaction with an
object which can be used to accurately learn to determine the stability of a
grasp. Most of the works in the literature represented tactile readings as
plain feature vectors or matrix-like tactile images, using them to train
machine learning models. In this work, we explore an alternative way of
exploiting tactile information to predict grasp stability by leveraging
graph-like representations of tactile data, which preserve the actual spatial
arrangement of the sensor's taxels and their locality. In experimentation, we
trained a Graph Neural Network to binary classify grasps as stable or slippery
ones. To train such network and prove its predictive capabilities for the
problem at hand, we captured a novel dataset of approximately 5000
three-fingered grasps across 41 objects for training and 1000 grasps with 10
unknown objects for testing. Our experiments prove that this novel approach can
be effectively used to predict grasp stability
Weaving Lighthouses and Stitching Stories: Blind and Visually Impaired People Designing E-textiles
We describe our experience of working with blind and visually impaired people to create interactive art objects that are personal to them, through a participatory making process using electronic textiles (e-textiles) and hands-on crafting techniques. The research addresses both the practical considerations about how to structure hands-on making workshops in a way which is accessible to participants of varying experience and abilities, and how effective the approach was in enabling participants to tell their own stories and feel in control of the design and making process. The results of our analysis is the offering of insights in how to run e-textile making sessions in such a way for them to be more accessible and inclusive to a wider community of participants
Haptics: Science, Technology, Applications
This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility
Haptics: Science, Technology, Applications
This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications
An environment for studying the impact of spatialising sonified graphs on data comprehension
We describe AudioCave, an environment for exploring the impact of spatialising sonified graphs on a set of numerical data comprehension tasks. Its design builds on findings regarding the effectiveness of sonified graphs for numerical data overview and discovery by visually impaired and blind students. We demonstrate its use as a test bed for comparing the approach of accessing a single sonified numerical datum at a time to one where multiple sonified numerical data can be accessed concurrently. Results from this experiment show that concurrent access facilitates the tackling of our set multivariate data comprehension tasks. AudioCave also demonstrates how the spatialisation of the sonified graphs provides opportunities for sharing the representation. We present two experiments investigating users solving set data comprehension tasks collaboratively by sharing the data representation
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