Related papers: Towards integrated tactile sensorimotor control in…

Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…

The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…

Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…

In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feature of ViTacTip is its transparent skin, which incorporates…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

We present an intelligent interactive nightstand mounted on a mobile robot, to aid the elderly in their homes using physical, tactile and visual percepts. We show the integration of three different sensing modalities for controlling the…

The sense of touch is fundamental in several manipulation tasks, but rarely used in robot manipulation. In this work we tackle the problem of learning rich touch features from cross-modal self-supervision. We evaluate them identifying…

This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…

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…

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…

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…

We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…

The purpose of this study is to construct a contact point estimation system for the both side of a finger, and to realize a motion of bending the finger after inserting the finger into a tool (hereinafter referred to as the bending after…

Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…

In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…

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…

We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

Human hands are capable of in-hand manipulation in the presence of different hand motions. For a robot hand, harnessing rich tactile information to achieve this level of dexterity still remains a significant challenge. In this paper, we…

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…