Related papers: GelSight EndoFlex: A Soft Endoskeleton Hand with C…

Manipulation tasks often require a high degree of dexterity, typically necessitating grippers with multiple degrees of freedom (DoF). While a robotic hand equipped with multiple fingers can execute precise and intricate manipulation tasks,…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…

Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…

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.…

In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…

GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the…

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…

The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…

With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…

Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…

This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…

We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are damaged when slid across surfaces, and…

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…

Scalable learning of dexterous manipulation remains bottlenecked by the difficulty of collecting natural, high-fidelity human demonstrations of multi-finger hands due to occlusion, complex hand kinematics, and contact-rich interactions. We…

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…

With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…

Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…

Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt its actions throughout interaction.…