Related papers: Digitizing Touch with an Artificial Multimodal Fin…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
For robot touch to converge with the human sense of touch, artificial transduction should involve biologically-plausible population codes analogous to those of natural afferents. Using a biomimetic tactile sensor with 3d-printed skin based…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
For some years now, the use of social, anthropomorphic robots in various situations has been on the rise. These are robots developed to interact with humans and are equipped with corresponding extremities. They already support human users…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…
The current practice of dexterous manipulation generally relies on a single wrist-mounted view, which is often occluded and limits performance on tasks requiring multi-view perception. In this work, we present FingerViP, a learning system…
We present Ghostfinger, a technology for highly dynamic up/down fingertip haptics and control. The overall user experience offered by the technology can be described as that of tangibly and audibly interacting with a small hologram. More…
Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
Humans represent and discriminate the objects in the same category using their properties, and an intelligent robot should be able to do the same. In this paper, we build a robot system that can autonomously perceive the object properties…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep…
Perceptual processes are frequently multi-modal. This is the case of haptic perception. Data sets of visual and haptic sensory signals have been compiled in the past, especially when it comes to the exploration of textured surfaces. These…
The sense of touch is an essential ability for skillfully performing a variety of tasks, providing the capacity to search and manipulate objects without relying on visual information. In this paper, we introduce a multi-finger robot system…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Modern touchscreens utilize capacitive sensing technology to enable precise and robust multi-touch interaction. However, the broader expressive potential of the human hand remains underutilized, since most existing methods directly filter…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…