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Bringing tactile sensation to robotic hands will allow for more effective grasping, along with the wide range of benefits of human-like touch. Here we present a 3D-printed, three-fingered tactile robot hand comprising an OpenHand Model O…

Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…

As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that employs a compound-eye imaging system to combine…

Human hands are capable of in-hand manipulation in the presence of different hand motions. For a robot hand, harnessing rich tactile information to achieve this level of dexterity still remains a significant challenge. In this paper, we…

We present 3DTouch, a novel 3D wearable input device worn on the fingertip for 3D manipulation tasks. 3DTouch is designed to fill the missing gap of a 3D input device that is self-contained, mobile, and universally working across various 3D…

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…

Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the…

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…

Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of…

Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…

Robots require full-body, high-resolution tactile sensing to operate safely in unstructured environments, enabling reflexive responses and closed-loop control. However, the pixel counts needed for dense, large-area coverage limit readout…

Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…

The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…

We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…

Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties as well as force dynamics. Although optical tactile sensors are uniquely…

Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like…

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…

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.…

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…