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Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Medical applications of robots are increasingly popular to objectivise and speed up the execution of several types of diagnostic and therapeutic interventions. Particularly important is a class of diagnostic activities that require physical…
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
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…
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,…
Tactile sensors supply useful information during the interaction with an object that can be used for assessing the stability of a grasp. Most of the previous works on this topic processed tactile readings as signals by calculating…
Incorporating touch as a sensing modality for robots can enable finer and more robust manipulation skills. Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. In this paper, we…
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential displacement but completely occlude geometric features…
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and…
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…
Though robotic dexterous manipulation has progressed substantially recently, challenges like in-hand occlusion still necessitate fine-grained tactile perception, leading to the integration of more tactile sensors into robotic hands.…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
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…
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…
Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…
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…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
Recent progress in reinforcement learning (RL) and tactile sensing has significantly advanced dexterous manipulation. However, these methods often utilize simplified tactile signals due to the gap between tactile simulation and the real…