Related papers: Elastic Tactile Simulation Towards Tactile-Visual …
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
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…
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…
Tactile and kinesthetic perceptions are crucial for human dexterous manipulation, enabling reliable grasping of objects via proprioceptive sensorimotor integration. For robotic hands, even though acquiring such tactile and kinesthetic…
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
TactileWalk evaluates dynamic electrotactile patterns on fingertips for wearable navigation. We developed a fingertip stimulation prototype featuring a 10x6 electrode grid driven by an ESP32 microcontroller and high-voltage drivers to…
Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
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.…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
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…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
The majority of artificial intelligence research, as it relates from which to biological senses has been focused on vision. The recent explosion of machine learning and in particular, dee p learning, can be partially attributed to the…
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…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…