Related papers: GradTac: Spatio-Temporal Gradient Based Tactile Se…
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…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
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…
Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…
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…
A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…
With the increase in interest in deployment of robots in unstructured environments to work alongside humans, the development of human-like sense of touch for robots becomes important. In this work, we implement a multi-channel neuromorphic…
This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching for local transformations of tactile measurements that…
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Tactile sensors have been developed since the early '70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
The integration of visual-tactile stimulus is common while humans performing daily tasks. In contrast, using unimodal visual or tactile perception limits the perceivable dimensionality of a subject. However, it remains a challenge to…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…