Related papers: GelLink: A Compact Multi-phalanx Finger with Visio…
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.…
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…
This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
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…
Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
Handling non-rigid objects using robot hands necessities a framework that does not only incorporate human-level dexterity and cognition but also the multi-sensory information and system dynamics for robust and fine interactions. In this…
Recent advances in soft robotic hands and tactile sensing have enabled both to perform an increasing number of complex tasks with the aid of machine learning. In particular, we presented the GelSight Baby Fin Ray in our previous work, which…
The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…
Touch holds a pivotal position in enhancing the perceptual and interactive capabilities of both humans and robots. Despite its significance, current tactile research mainly focuses on visual and tactile modalities, overlooking the language…
Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with…
High resolution tactile sensors are often bulky and have shape profiles that make them awkward for use in manipulation. This becomes important when using such sensors as fingertips for dexterous multi-fingered hands, where boxy or planar…
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…
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…
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited to flat-surface sensors, which prevents their usage…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…
Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance…