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As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…
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…
Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…
The human skin exhibits remarkable capability to perceive contact forces and environmental temperatures, providing intricate information essential for nuanced manipulation. Despite recent advancements in soft tactile sensors, a significant…
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
Recent advancements in prosthetic technology have increasingly focused on enhancing dexterity and autonomy through intelligent control systems. Vision-based approaches offer promising results for enabling prosthetic hands to interact more…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…