Related papers: DenseTact: Optical Tactile Sensor for Dense Shape …
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Robotic touch, particularly when using soft optical tactile sensors, suffers from distortion caused by motion-dependent shear. The manner in which the sensor contacts a stimulus is entangled with the tactile information about the geometry…
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
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…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
Accurate shape reconstruction of transparent objects is a challenging task due to their non-Lambertian surfaces and yet necessary for robots for accurate pose perception and safe manipulation. As vision-based sensing can produce erroneous…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…
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…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…
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…
Tactile sensing plays a key role in enabling dexterous and reliable robotic manipulation, but realizing this capability requires substantial calibration to convert raw sensor readings into physically meaningful quantities. Despite its…
Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors rely on deformation to infer contact, making such…
Reconstructing dynamic hand-object contacts is essential for realistic manipulation in AI character animation, XR, and robotics, yet it remains challenging due to heavy occlusions, complex surface details, and limitations in existing…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-standardized representations. In this paper, we propose a…
As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that employs a compound-eye imaging system to combine…