Related papers: Accurate Contact Localization and Indentation Dept…
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…
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…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
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…
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…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment.…
Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
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…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…
In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…