Related papers: A novel tactile palm for robotic object manipulati…
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…
The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…
Our human sense of touch enables us to manipulate our surroundings; therefore, complex robotic manipulation will require artificial tactile sensing. Typically tactile sensor arrays are used in robotics, implying that a straightforward way…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
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…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant. We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
During a robot to human object handover task, several intended or unintended events may occur with the object - it may be pulled, pushed, bumped or simply held - by the human receiver. We show that it is possible to differentiate between…
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…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
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…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
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…
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…
We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…