Related papers: Shear-invariant Sliding Contact Perception with a …

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…

While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In this work, we introduce an optical tactile sensing principle…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…

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…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Recent progress in reinforcement learning (RL) and tactile sensing has significantly advanced dexterous manipulation. However, these methods often utilize simplified tactile signals due to the gap between tactile simulation and the real…

Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…

Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…

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…

Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…

Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

Safely handling objects and avoiding slippage are fundamental challenges in robotic manipulation, yet traditional techniques often oversimplify the issue by treating slippage as a binary occurrence. Our research presents a framework that…

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 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…

Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…

Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…