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Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipulate DLOs, which requires…
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties of objects either in hand or through pre-touch caging. This…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…
Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact detection and…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…
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…
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…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Sequentially grasping multiple objects with multi-fingered hands is common in daily life, where humans can fully leverage the dexterity of their hands to enclose multiple objects. However, the diversity of object geometries and the complex…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
LinkGlide-S is a novel wearable hand-worn tactile display to deliver multi-contact and multi-modal stimuli at the user's palm.} The array of inverted five-bar linkages generates three independent contact points to cover the whole palm area.…