Related papers: Visual Tactile Sensor Based Force Estimation for P…
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…
The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery (RMIS) is a potential barrier to safe tissue handling during surgery. Bayesian modeling theory suggests that surgeons with experience in open or laparoscopic surgery…
Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…
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…
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 study introduces a novel haptic device for enhancing dexterous manipulation in virtual reality. By stimulating mechanoreceptors on both sides of the fingernail, our lightweight system simulates tangential force sensations. We employ…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
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…
We present a visuo-tactile data-collection system that generates temporally structured, contact-rich demonstrations for imitation learning. Conventional systems often decouple the operator from contact forces, which hinders the…
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…
Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…
The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment.…
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…