Related papers: AnySkin: Plug-and-play Skin Sensing for Robotic To…
Developments in touch-sensitive textiles have enabled many novel interactive techniques and applications. Our digitally-knitted capacitive active sensors can be manufactured at scale with little human intervention. Their sensitive areas are…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
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…
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing…
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
Three-dimensional (3D) applications have come to every corner of life. We present 3DTouch, a novel 3D wearable input device worn on the fingertip for interacting with 3D applications. 3DTouch is self-contained, and designed to universally…
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic artificial skin, only a few systems have proposed a…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
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…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
Visuo-tactile perception aims to understand an object's tactile properties, such as texture, softness, and rigidity. However, the field remains underexplored because collecting tactile data is costly and labor-intensive. We observe that…
Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…
Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high durability and tactile density. However, the large sim-to-real…
Touch is one of the most intuitive ways for humans to interact with the world, and as we advance toward a ubiquitous computing environment where technology seamlessly integrates into daily life, natural interaction methods are essential.…