Related papers: GelTip: A Finger-shaped Optical Tactile Sensor for…
Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However,…
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…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects around them to precisely manipulate objects. However,…
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
To achieve human-like haptic perception in anthropomorphic grippers, the compliant sensing surfaces of vision tactile sensor (VTS) must evolve from conventional planar configurations to biomimetically curved topographies with continuous…
Many vision based applications have used fingertips to track or manipulate gestures in their applications. Gesture identification is a natural way to pass the signals to the machine, as the human express its feelings most of the time with…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…
We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are damaged when slid across surfaces, and…
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…
Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the development of a simple, robust and inexpensive tactile foot for…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…