Related papers: A capacitive flexible tactile sensor
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
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…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and uses an array of markers to track deformations on a gel pad…
Flexible electrical impedance tomography (EIT) offers a promising alternative to traditional tactile sensing approaches, enabling low-cost, scalable, and deformable sensor designs. Here, we propose an optimized lattice-structured flexible…
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 describe a sensor for the measurement of thin dielectric layers capable of operation in a variety of environments. The sensor is obtained by microfabricating a capacitor with interleaved aluminum fingers, exposed to the dielectric to be…
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…
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…
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…
The technological transition from soft machines to soft robots necessarily passes through the integration of soft electronics and sensors. This allows for the establishment of feedback control systems while preserving the softness of the…
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…
We aimed to develop a tactile display that allows users to actively explore the virtual texture of a surface. We developed a tactile display embedded in an optical mouse that provides a wide range of frequency vibrations to the user's…
We proposed a new type of tactile sensor that is capable of determining the surface morphology of skin lesions. The sensor consists of a brass cylinder with an axial bore. Three peripheral bobbins were machined in the cylinder around which…
We propose the realization of capacitive temperature sensors based on the concept of displacement amplification. Our design features two high coefficient of thermal expansion (CTE) metallic layers separated by a low-CTE dielectric layer;…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
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…
A high-sensitivity wireless pressure sensor with active processing structure designed on the dielectric substrate has been present and evaluated in this paper. The sensor configuration has been optimized by computer-aided design to achieve…
While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasping and in-hand manipulation. We propose a novel sensor…