Related papers: Grasping Force Estimation for Markerless Visuotact…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing principles (e.g., optical vs. magnetic), form factors, and…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
Tactile perception is an increasingly popular gateway in human-machine interaction, yet universal design guidelines for tactile displays are still lacking, largely due to the absence of methods to measure sensibility across skin areas. In…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
Grasping is a fundamental task in robot-assisted surgery (RAS), and automating it can reduce surgeon workload while enhancing efficiency, safety, and consistency beyond teleoperated systems. Most prior approaches rely on explicit object…
Tactile sensors provide useful contact data during the interaction with an object which can be used to accurately learn to determine the stability of a grasp. Most of the works in the literature represented tactile readings as plain feature…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge.…
Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, direct force sensing at the end-effector is challenging…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Vision-based tactile sensors (VBTSs) are a promising technology for robots, providing them with dense signals that can be translated into a multi-faceted understanding of contact. However, existing VBTS tactile surfaces make use of silicone…
We present a benchmarking study of vision-based robotic grasping algorithms with distinct approaches, and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing…
The use of motion capture has increased from last decade in a varied spectrum of applications like film special effects, controlling games and robots, rehabilitation system, animations etc. The current human motion capture techniques use…
Modern incarnations of tactile sensors produce high-dimensional raw sensory feedback such as images, making it challenging to efficiently store, process, and generalize across sensors. To address these concerns, we introduce a novel…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…