Related papers: HydroelasticTouch: Simulation of Tactile Sensors w…
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
In this paper, we address the problem of tactile sim-to-real policy transfer for contact-rich tasks. Existing methods primarily focus on vision-based sensors and emphasize image rendering quality while providing overly simplistic models of…
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft objects, objects of varying dimensions, or those out of the robot's direct line of sight. Traditional tactile sensors often grapple with…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited to flat-surface sensors, which prevents their usage…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
Recent advancements in soft robots, human-machine interfaces, and wearable electronics have led to an increased demand for high-performance soft tactile sensors. Tomographic tactile sensor based on resistive coupling is a novel contact…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…