Related papers: A Wearable Tactile Sensor Array for Large Area Rem…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
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…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
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…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…
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…
Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still…
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…
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…
Touch sensing, as a major human/machine interface, is widely used in various commercial products such as smart watches, mobile phones, tablets and TVs. State-of-the-art touch detections are mainly based on mutual capacitive sensing, which…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…