Related papers: High-Performance Vision-Based Tactile Sensing Enha…
Tactile displays that lend tangible form to digital content could transform computing interactions. However, achieving the resolution, speed, and dynamic range needed for perceptual fidelity remains challenging. We present a tactile display…
Self-touch gestures (e.g., nuanced facial touches and subtle finger scratches) provide rich insights into human behaviors, from hygiene practices to health monitoring. However, existing approaches fall short in detecting such micro gestures…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…
Tactile graphics are essential for providing access to visual information for the 43 million people globally living with vision loss. Traditional methods for creating these graphics are labor-intensive and cannot meet growing demand. We…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…
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…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…
Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…
Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for shape perception, it becomes unreliable under occlusions or…
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…
While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In this work, we introduce an optical tactile sensing principle…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide…
Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer-vision techniques. However, their physical design and the information they provide do not…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
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…