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Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
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…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to…
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
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…
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…
The ability to grasp and manipulate small objects in cluttered environments remains a significant challenge. This paper introduces a novel approach that utilizes a tactile sensor-equipped gripper with eight degrees of freedom to overcome…
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…
Robots are expected to grasp a wide range of objects varying in shape, weight or material type. Providing robots with tactile capabilities similar to humans is thus essential for applications involving human-to-robot or robot-to-robot…
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…
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…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…