Related papers: Incipient Slip Detection by Vibration Injection in…

Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitance, or force-torque measurements face fundamental trade-offs…

We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…

In humans, the tactile perception of fine textures is mediated by skin vibrations when scanning the surface with the fingertip. These vibrations are encoded by specific mechanoreceptors, Pacinian corpuscules (PCs), located about 2 mm below…

Robotic hands offer advanced manipulation capabilities, while their complexity and cost often limit their real-world applications. In contrast, simple parallel grippers, though affordable, are restricted to basic tasks like pick-and-place.…

Playing back vibrotactile signals through actuators is commonly used to simulate tactile feelings of virtual textured surfaces. However, there is often a small mismatch between the simulated tactile feelings and intended tactile feelings by…

Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…

Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is…

This paper proposes a soft sensor embedded in a soft ring actuator with five fingers as a soft hand to identify the bifurcation of manipulated objects during the in-hand manipulation process. The manipulation is performed by breaking the…

Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…

Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design from the authors' earlier work, a sensing and control strategy…

In this paper, we propose a novel non-contact vibration measurement system that is competent in estimating linear and/or rotational motions of machine parts. The technique combines microwave radar, standard camera, and optical strobe to…

We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…

Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…

We consider a sheared granular system experiencing intermittent dynamics of stick-slip type via discrete element simulations. The considered setup consists of a two-dimensional system of soft frictional particles sandwiched between solid…

Rendering tactile effects on a touch screen via electrovibration has many potential applications. However, our knowledge on tactile perception of change in friction and the underlying contact mechanics are both very limited. In this study,…

We experimentally study the frictional behavior of a two-dimensional slider pulled slowly over a granular substrate comprised of photoelastic disks. The slider is vibrated at frequencies ranging from 0 to 30 Hz in a direction parallel to…

A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…

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…

Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…