Related papers: Contact Localization through Spatially Overlapping…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have proven difficult to integrate into robot fingers due to…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the surface of robot arms, these sensors are not yet robust or…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…
In this paper, we introduce a sensor designed for integration in robot fingers, where it can provide information on the displacements induced by external contact. Our sensor uses LEDs to sense the displacement between two plates connected…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
We develop an algorithm to explore an environment to generate a measurement model for use in future localization tasks. Ergodic exploration with respect to the likelihood of a particular class of measurement (e.g., a contact detection…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…
We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…