Related papers: ViTac: Feature Sharing between Vision and Tactile …

Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…

In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feature of ViTacTip is its transparent skin, which incorporates…

Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…

Visuotactile sensing offers rich contact information that can help mitigate performance bottlenecks in imitation learning, particularly under vision-limited conditions, such as ambiguous visual cues or occlusions. Effectively fusing visual…

Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…

The recent advancement in computational and communication systems has led to the introduction of high-performing neural networks and high-speed wireless vehicular communication networks. As a result, new technologies such as cooperative…

The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…

Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…

Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…

Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…

Tactile sensing or fabric hand plays a critical role in an individual's decision to buy a certain fabric from the range of available fabrics for a desired application. Therefore, textile and clothing manufacturers have long been in search…

Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…

This paper introduces a new type of system for fabric defect detection with the tactile inspection system. Different from existed visual inspection systems, the proposed system implements a vision-based tactile sensor. The tactile sensor,…

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…

For humans, our "senses of touch" have always been necessary for our ability to precisely and efficiently manipulate objects of all shapes in any environment, but until recently, not many works have been done to fully understand haptic…

The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…