Related papers: A versatile flexure-based 6-axes force/torque sens…

In the field, robots often need to operate in unknown and unstructured environments, where accurate sensing and state estimation (SE) becomes a major challenge. Cameras have been used to great success in mapping and planning in such…

The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tactile sensors realize high-resolution, large-area tactile…

This paper presents an insole FSR (Force Sensing Resistor) to dynamically detect weight variations in an exoskeleton system. The proposed methodology is intended for tasks of lifting and lowering heavy weights with an industrial exoskeleton…

The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…

Adaptation to external and internal changes is major for robotic systems in uncertain environments. Here we present a novel multisensory active inference torque controller for industrial arms that shows how prediction can be used to resolve…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…

The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…

Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…

Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as a robotic arm gripping an object or even the contact between two bones at our knee joints. The ability to naturally…

Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…

Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…

We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only…

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…

Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor's spatial resolution is about…

Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…

Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…

We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…

The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…

Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…