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This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Understanding mechanosensitivity, i.e. how cells sense the stiffness of their environment is very important, yet there is a fundamental difficulty in understanding its mechanism: to measure an elastic modulus one requires two points of…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Tactile sensing has recently been used in robotics for object identification, grasping, and material recognition. Most material recognition approaches use vibration information from a tactile exploration, typically above one second long, to…
Although conventional GelSight-based tactile and force/torque sensors excel in detecting objects' geometry and texture information while simultaneously sensing multi-axis forces, their performance is limited by the camera's lower frame…
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSlim for the dense packing task. In this paper, we propose an…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
We propose an experiment using optically trapped and cooled dielectric microspheres for the detection of short-range forces. The center-of-mass motion of a microsphere trapped in vacuum can experience extremely low dissipation and quality…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
LinkGlide-S is a novel wearable hand-worn tactile display to deliver multi-contact and multi-modal stimuli at the user's palm.} The array of inverted five-bar linkages generates three independent contact points to cover the whole palm area.…
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…