Related papers: NeuroTac: A Neuromorphic Optical Tactile Sensor ap…
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…
Robots require full-body, high-resolution tactile sensing to operate safely in unstructured environments, enabling reflexive responses and closed-loop control. However, the pixel counts needed for dense, large-area coverage limit readout…
Neuromorphic engineering is essentially the development of artificial systems, such as electronic analog circuits that employ information representations found in biological nervous systems. Despite being faster and more accurate than the…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
We study the responses of two tactile sensors, the fingertip sensor from the iCub and the BioTac under different external stimuli. The question of interest is to which degree both sensors i) allow the estimation of force exerted on the…
The use of data-driven techniques for tactile data processing and classification has recently increased. However, collecting tactile data is a time-expensive and sensor-specific procedure. Indeed, due to the lack of hardware standards in…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Neuromorphic computing is an emerging computing paradigm that moves away from batched processing towards the online, event-driven, processing of streaming data. Neuromorphic chips, when coupled with spike-based sensors, can inherently adapt…
For humans, both the proprioception and touch sensing are highly utilized when performing haptic perception. However, most approaches in robotics use only either proprioceptive data or touch data in haptic object recognition. In this paper,…
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…
Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency,…
Human touch depends on the integration of shape, stiffness, and friction, yet existing tactile displays cannot render these cues together as continuously tunable, high-fidelity signals for intuitive perception. We present ArrayTac, a…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
In this work, we introduce SpikeATac, a multimodal tactile finger combining a taxelized and highly sensitive dynamic response (PVDF) with a static transduction method (capacitive) for multimodal touch sensing. Named for its `spiky'…
High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
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…