Related papers: DTact: A Vision-Based Tactile Sensor that Measures…

Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…

Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…

Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…

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…

Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolution tactile sensors remains large. Models trained on…

Based on high-throughput dark-field full-field optical coherence tomography, we designed and built an OCT system that can measure a variety of samples with different scattered light intensities, such as materials with multi-layer…

Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…

Vision-Based Tactile Sensors (VBTSs) stand out for their superior performance due to their high-information content output. Recently, marker-based VBTSs have been shown to give accurate geometry reconstruction when using stereo cameras.…

Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…

Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…

Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency,…

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…

Tactile perception has the potential to significantly enhance dexterous robotic manipulation by providing rich local information that can complement or substitute for other sensory modalities such as vision. However, because tactile sensing…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the…

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…

Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…

Depth completion is crucial for many robotic tasks such as autonomous driving, 3-D reconstruction, and manipulation. Despite the significant progress, existing methods remain computationally intensive and often fail to meet the real-time…