Related papers: GelLink: A Compact Multi-phalanx Finger with Visio…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
Many robotic hands currently rely on extremely dexterous robotic fingers and a thumb joint to envelop themselves around an object. Few hands focus on the palm even though human hands greatly benefit from their central fold and soft surface.…
High-fidelity visuo-tactile sensing is important for precise robotic manipulation. However, most vision-based tactile sensors face a fundamental trade-off: opaque coatings enable tactile sensing but block pre-contact vision. To address…
High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…
Although conventional GelSight-based tactile and force/torque sensors excel in detecting objects' geometry and texture information while simultaneously sensing multi-axis forces, their performance is limited by the camera's lower frame…
Compliance is a critical parameter for describing objects in engineering, agriculture, and biomedical applications. Traditional compliance detection methods are limited by their lack of portability and scalability, rely on specialized,…
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
TactileWalk evaluates dynamic electrotactile patterns on fingertips for wearable navigation. We developed a fingertip stimulation prototype featuring a 10x6 electrode grid driven by an ESP32 microcontroller and high-voltage drivers to…
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
We present a tactile-sensorized Fin-Ray finger that enables simultaneous detection of contact location and indentation depth through an indirect sensing approach. A hinge mechanism is integrated between the soft Fin-Ray structure and a…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Bringing tactile sensation to robotic hands will allow for more effective grasping, along with the wide range of benefits of human-like touch. Here we present a 3D-printed, three-fingered tactile robot hand comprising an OpenHand Model O…
This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reduction, while introducing innovative calibration methods that…
Accurate shape sensing, only achievable through distributed proprioception, is a key requirement for closed-loop control of soft robots. Low-cost power efficient optoelectronic sensors manufactured from flexible materials represent a…
Past research has widely explored the design and fabrication of resistive matrix-based tactile sensors as a means of creating touch-sensitive devices. However, developing portable, adaptive, and long-lasting tactile sensing systems that…
High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the entire area of the hand impedes the rich, low-level…