Related papers: Optical Tactile Sensing for Aerial Multi-Contact I…
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…
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…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
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…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…
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 an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…
In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
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…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
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…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
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…