Related papers: NUSense: Robust Soft Optical Tactile Sensor
Tactile sensors supply useful information during the interaction with an object that can be used for assessing the stability of a grasp. Most of the previous works on this topic processed tactile readings as signals by calculating…
This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…
Soft adhesive contacts are ubiquitous in nature and are increasingly used in synthetic systems, such as flexible electronics and soft robots, due to their advantages over traditional joining techniques. While methods to study the failure of…
Electroadhesion has emerged as a viable technique for displaying tactile feedback on touch surfaces, particularly capacitive touchscreens found in smartphones and tablets. This involves applying a voltage signal to the conductive layer of…
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…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Knowing the stress within a soft material is of fundamental interest to basic research and practical applications, such as soft matter devices, biomaterial engineering, and medical sciences. However, it is challenging to measure stress…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
We present an ultrasensitive technique for probing transient optical changes in atomically thin molybdenum disulfide (MoS$_2$) layers integrated onto silicon nitride (Si$_3$N$_4$) ring resonators. The MoS$_2$ is illuminated by a femtosecond…
Our human sense of touch enables us to manipulate our surroundings; therefore, complex robotic manipulation will require artificial tactile sensing. Typically tactile sensor arrays are used in robotics, implying that a straightforward way…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…