Related papers: Sensorized Soft Skin for Dexterous Robotic Hands

Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…

This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…

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…

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…

Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…

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…

Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…

In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…

Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…

This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…

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…

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…

Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…

The artificial hands for sociable robotics and prosthetics are expected to be touched by other people. Because the skin is the main interface during the contact, a need arises to duplicate humanlike characteristics for artificial skins for…

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…

In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…

We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…

We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…

Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…