Related papers: Embedding high-resolution touch across robotic han…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping…
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…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
It is challenging to grasp numerous objects with varying sizes and shapes with a single robot hand. To address this, we propose a new robot hand called the 'F3 hand' inspired by the complex movements of human index finger and thumb. The F3…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
Despite the advancement in robotic grasping and dexterity through haptic information, affective social touch, such as handshaking or reassuring stroking, remains a major challenge in Human-Robot-Interaction. This position paper examines…
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…
Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-Based Tactile Sensors (VBTSs) offer high spatial resolution and cost-effectiveness, but present unique…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
Following the recent advances in the field of robotic hand development, it can be inferred that the greatest challenge lies in restoring not just general functionality, but the delicate dexterity of the human hand. Results from studying its…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…