Related papers: Tactile-Driven Gentle Grasping for Human-Robot Col…

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…

Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing…

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…

Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…

Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…

Direct and natural interaction is essential for intuitive human-robot collaboration, eliminating the need for additional devices such as joysticks, tablets, or wearable sensors. In this paper, we present a lightweight deep learning-based…

We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…

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…

Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…

The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…

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…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…

Finger-tip tactile sensors are increasingly used for robotic sensing to establish stable grasps and to infer object properties. Promising performance has been shown in a number of works for inferring adjectives that describe the object, but…

Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…

The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…

Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…