Related papers: Development of Soft Tactile Sensor for Force Measu…

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,…

Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…

Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…

Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…

Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…

The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…

Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…

Humans are able to convey different messages using only touch. Equipping robots with the ability to understand social touch adds another modality in which humans and robots can communicate. In this paper, we present a social gesture…

Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…

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…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…

Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot…

Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…

While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In this work, we introduce an optical tactile sensing principle…

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…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…

The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…