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A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…
This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…
Robots can better interact with humans and unstructured environments through touch sensing. However, most commercial robots are not equipped with tactile skins, making it challenging to achieve even basic touch-sensing functions, such as…
Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…
Industrial arms need to evolve beyond their standard shape to embrace new and emerging technologies. In this paper, we shall first perform an analysis of four popular but different modern industrial robot arms. By seeing the common trends…
Tactile perception is crucial for a variety of robot tasks including grasping and in-hand manipulation. New advances in flexible, event-driven, electronic skins may soon endow robots with touch perception capabilities similar to humans.…
Tactile sensors have been developed since the early '70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
What is the future of tactile robotics? To help define that future, this article provides a historical perspective on tactile sensing in robotics from the wealth of knowledge and expert opinion in nearly 150 reviews over almost half a…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Traditional approaches to human-robot interaction design typically examine robot behaviors in controlled environments and narrow tasks. These methods are impractical for designing robots that interact with diverse user groups in complex…
Recent progress in reinforcement learning (RL) and tactile sensing has significantly advanced dexterous manipulation. However, these methods often utilize simplified tactile signals due to the gap between tactile simulation and the real…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Aligning large language models (LLMs) behaviour with human intent is critical for future AI. An important yet often overlooked aspect of this alignment is the perceptual alignment. Perceptual modalities like touch are more multifaceted and…
In humans, the tactile perception of fine textures (spatial scale <200 micrometers) is mediated by skin vibrations generated as the finger scans the surface. To establish the relationship between texture characteristics and subcutaneous…
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…
Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural…