Related papers: Touch, press and stroke: a soft capacitive sensor …
A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…
Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…
The artificial hands for sociable robotics and prosthetics are expected to be touched by other people. Because the skin is the main interface during the contact, a need arises to duplicate humanlike characteristics for artificial skins for…
The high flexibility, impermeability and strength of graphene membranes are key properties that can enable the next generation of nanomechanical sensors. However, for capacitive pressure sensors the sensitivity offered by a single suspended…
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…
We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range…
Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
Despite non-co-location, haptic stimulation at the wrist can potentially provide feedback regarding interactions at the fingertips without encumbering the user's hand. Here we investigate how two types of skin deformation at the wrist…
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…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
This study presents a novel approach for touch sensing using semi-elastic textile surfaces that does not require the placement of additional sensors in the sensing area, instead relying on sensors located on the border of the textile. The…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle care for individuals with physical disabilities. However,…
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…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Flexible pressure sensors are an attractive area of research due to their potential applications in biomedical sensing and wearable devices. Among flexible and wearable pressure sensors, capacitive pressure sensors show significant…
A continuous stroking sensation on the skin can convey messages or emotion cues. We seek to induce this sensation using a combination of illusory motion and lateral stroking via a haptic device. Our system provides discrete lateral…
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…