Related papers: TouchRoller: A Rolling Optical Tactile Sensor for …
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Tactile sensing is crucial for robots aiming to achieve human-level dexterity. Among tactile-dependent skills, tactile-based object tracking serves as the cornerstone for many tasks, including manipulation, in-hand manipulation, and 3D…
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…
Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight,…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…
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…
Tactile sensing typically involves active exploration of unknown surfaces and objects, making it especially effective at processing the characteristics of materials and textures. A key property extracted by human tactile perception is…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…