Related papers: RoTip: A Finger-Shaped Tactile Sensor with Active …

Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…

The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…

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.…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

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…

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…

This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…

Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industrial machine knitting provides solutions to manufacture…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…

Robots can better interact with humans and unstructured environments through touch sensing. However, most commercial robots are not equipped with tactile skins, making it challenging to achieve even basic touch-sensing functions, such as…

The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…

Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…

This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the…

Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…

When carrying out robotic manipulation tasks, objects occasionally fall as a result of the rotation caused by slippage. This can be prevented by obtaining tactile information that provides better knowledge on the physical properties of the…

Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…

Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the development of a simple, robust and inexpensive tactile foot for…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…