Related papers: Design and Benchmarking of A Multi-Modality Sensor…
Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…
Contact-rich manipulation in unstructured environments demands precise, multimodal perception to enable robust and adaptive control. Vision-based tactile sensors (VBTSs) have emerged as an effective solution; however, conventional VBTSs…
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…
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…
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…
Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present \textbf{Moir\'eTac}, a dual-mode sensor that generates dense…
Traditional vision-based material perception methods often experience substantial performance degradation under visually impaired conditions, thereby motivating the shift toward non-visual multimodal material perception. Despite this,…
Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However,…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…
Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact detection and…
Existing psychophysical studies have revealed that the cross-modal visual-tactile perception is common for humans performing daily activities. However, it is still challenging to build the algorithmic mapping from one modality space to…
The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…
Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…
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.…
Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to…
Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
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…
Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the…