Tactile Perception
The ability of humans to navigate our environment is heavily dependent on the quality and speed of sensing. Tactile sensing, or the sensation of touch and pressure, is especially important for both coarse and fine object manipulation tasks, such as handling parcels and writing. Humans utilize tactile sensing data in real time for muscle path planning, fast tactile perception, tacto-object recognition, and overall human mobility. Similarly, robots tasked with service activities that require interacting with humans or objects require fast and reliable tactile feedback.
In our lab, we are particularly interested in how perception with next-generation skin can be used to enhance physical human-robot interaction for trustworthy collaboration.
★ CLeAR Group Members
More Links:
[Github]
[BibTeX]
@inproceedings{taunyazov2021extended,
title={Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects},
author={Tasbolat Taunyazov and Luar Shui Song and Eugene Lim and Hian Hian See and David Lee and Benjamin C. K. Tee and Harold Soh},
year={2021},
booktitle={IEEE International Conference on Intelligent Robots and Systems (IROS)}}
More Links:
[BibTeX]
@inproceedings{Chen2021MuMMI,
title={Multi-Modal Mutual Information (MuMMI) Training for Robust Self-Supervised Deep Reinforcement Learning},
author={Kaiqi Chen and Yong Lee and Harold Soh},
year={2021},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)}}
More Links:
[Github]
[BibTeX]
@inproceedings{gu2020tactile,
title={TactileSGNet: A Spiking Graph Neural Network for Event-based Tactile Object Recognition},
author={Fuqiang Gu and Weicong Sng and Tasbolat Taunyazov and Harold Soh},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2020},
month = {October}}
More Links:
[BibTeX]
@inproceedings{taunyazov2020texture,
title={Fast Texture Classification Using Tactile Neural Coding and Spiking Neural Network},
author={Tasbolat Taunyazov and Yansong Chua and Ruihan Gao and Harold Soh and Yan Wu},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2020},
month = {October}}
More Links:
[Github]
[Paper Site]
[BibTeX]
@inproceedings{taunyazov20event,
title={Event-Driven Visual-Tactile Sensing and Learning for Robots},
author={Tasbolat Taunyazoz and Weicong Sng and Hian Hian See and Brian Lim and Jethro Kuan and
Abdul Fatir Ansari and Benjamin Tee and Harold Soh},
year={2020},
booktitle = {Proceedings of Robotics: Science and Systems},
year = {2020},
month = {July}}
More Links:
[Github]
[BibTeX]
@inproceedings{taunyazov2019towards,
title={Towards effective tactile identification of textures using a hybrid touch approach},
author={Taunyazov, Tasbolat and Koh, Hui Fang and Wu, Yan and Cai, Caixia and Soh, Harold},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
pages={4269--4275},
year={2019},
organization={IEEE}}
More Links:
[Publisher Link]
[Github]
[BibTeX]
@article{article,
author = {Soh, Harold and Demiris, Yiannis},
year = {2014},
month = {05},
pages = {512-525},
title = {Incrementally Learning Objects by Touch: Online Discriminative and Generative Models for Tactile-Based Recognition},
volume = {7},
journal = {IEEE Transactions on Haptics},
doi = {10.1109/TOH.2014.2326159}}
More Links:
[Publisher Link]
[Github]
[BibTeX]
@INPROCEEDINGS{soh2012tactile,
author={Soh, Harold and Su, Yanyu and Demiris, Yiannis},
booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Online spatio-temporal Gaussian process experts with application to tactile classification},
year={2012},
volume={},
number={},
pages={4489-4496},
doi={10.1109/IROS.2012.6385992}}