Related papers: DexiTac: Soft Dexterous Tactile Gripping

In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…

The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with…

While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…

Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability, and cost-effectiveness. In this work, we present LVTG, a…

Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…

This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then…

This letter presents a novel small gripper capable of grasping various types of small-sized items from flat surfaces for the assembly of small devices. Using a single actuator, the proposed gripper realizes two grasping modes: parallel-grip…

Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…

How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…

External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…

For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…

We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object…

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…

Soft pneumatic actuators with integrated strain limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft…

Generating stable and robust grasps on arbitrary objects is critical for dexterous robotic hands, marking a significant step towards advanced dexterous manipulation. Previous studies have mostly focused on improving differentiable grasping…

Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…

Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…

To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…

Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human…