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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…
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Accurate pre-contact grasp force selection is critical for safe and reliable robotic manipulation. Adaptive controllers regulate force after contact but still require a reasonable initial estimate. Starting a grasp with too little force…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Slip detection is essential for robots to make robust grasping and fine manipulation. In this paper, a novel dynamic vision-based finger system for slip detection and suppression is proposed. We also present a baseline and feature based…
We investigate a method to modulate contact forces between the soft fingers of a two-finger gripper and an object, without relying on tactile sensors. This work is a follow-up to our previous results on contact detection. Here, our…
In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
Soft optical tactile sensors enable robots to manipulate deformable objects by capturing important features such as high-resolution contact geometry and estimations of object compliance. This work presents a variable stiffness soft tactile…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…