Related papers: Color-Coded Fiber-Optic Tactile Sensor for an Elas…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…
This work presents a method of incorporating low-cost capacitive tactile sensors on a soft socially assistive robot platform. By embedding conductive thread into the robot's crocheted exterior, we formed a set of low-cost, flexible…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
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…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…
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…
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…
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…
This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
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…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
The biological skin enables animals to sense various stimuli. Extensive efforts have been made recently to develop smart skin-like sensors to extend the capabilities of biological skins; however, simultaneous sensing of several types of…