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The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…

The world is abundant with diverse materials, each possessing unique surface appearances that play a crucial role in our daily perception and understanding of their properties. Despite advancements in technology enabling the capture and…

In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…

Temporal consistency is critical in video prediction to ensure that outputs are coherent and free of artifacts. Traditional methods, such as temporal attention and 3D convolution, may struggle with significant object motion and may not…

In vision-based action recognition, spatio-temporal features from different modalities are used for recognizing activities. Temporal modeling is a long challenge of action recognition. However, there are limited methods such as pre-computed…

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 rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…

Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…

This paper introduces a new type of system for fabric defect detection with the tactile inspection system. Different from existed visual inspection systems, the proposed system implements a vision-based tactile sensor. The tactile sensor,…

Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…

Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…

Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties through interaction prior to performing downstream tasks with…

Sensorimotor contingency theory offers a promising account of the nature of perception, a topic rarely addressed in the robotics community. We propose a developmental framework to address the problem of the autonomous acquisition of…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

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…