Related papers: A Soft Humanoid Hand with In-Finger Visual Percept…
The synthesis of tactile sensing with compliance is essential to many fields, from agricultural usages like fruit picking, to sustainability practices such as sorting recycling, to the creation of safe home-care robots for the elderly to…
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Hand gesture detection is a well-explored area in computer vision with applications in various forms of Human-Computer Interactions. In this work, we propose a technique for simultaneous hand gesture classification, handedness detection,…
To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Dynamic in-hand manipulation remains a challenging task for soft robotic systems that have demonstrated advantages in safe compliant interactions but struggle with high-speed dynamic tasks. In this work, we present SWIFT, a system for…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
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…
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual reality, our system captures rich human demonstrations,…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Dexterous manipulation is a fundamental capability for robotic systems, yet progress has been limited by hardware trade-offs between precision, compactness, strength, and affordability. Existing control methods impose compromises on hand…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
Soft robots offer significant advantages in adaptability, safety, and dexterity compared to conventional rigid-body robots. However, it is challenging to equip soft robots with accurate proprioception and tactile sensing due to their high…