Related papers: Extended Tactile Perception: Vibration Sensing thr…

Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…

Tactile sensing has recently been used in robotics for object identification, grasping, and material recognition. Most material recognition approaches use vibration information from a tactile exploration, typically above one second long, to…

Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…

Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…

Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…

Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…

Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…

Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…

Tactile sensation is essential for humans to recognize objects. Various devices have been developed in the past for tactile presentation by electrostatic force, which are easy to configure devices, but there is currently no such device that…

This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…

Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…

Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…

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…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…

Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…