Related papers: A Flexible FBG-Based Contact Force Sensor for Robo…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
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…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
Robots are frequently utilized in search-and-rescue operations. In recent years, significant advancements have been made in the field of victim assessment. However, there are still open issues regarding heart rate measurement, and no…
We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…
In this work, a large area, low cost and flexible polymer/paper-based double touch mode capacitive pressure sensor is demonstrated. Garage fabrication processes are used which only require cutting, taping and assembly of aluminum (Al)…
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resilience and robustness to collisions and inherent passive…
In recent years there has been considerable interest in utilizing embedded fiber optic based sensors for fabricating smart materials. One of the primary motivations is to provide real-time information on the structural integrity of the…
The human skin exhibits remarkable capability to perceive contact forces and environmental temperatures, providing intricate information essential for nuanced manipulation. Despite recent advancements in soft tactile sensors, a significant…
The study discusses the design and fabrication of flexible pressure sensors using Ecoflex/Graphene composites. The fabricated sensor is used for the application of intuitive monitoring of human quality gaits and implementation of the soft…
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…
Soft pneumatic actuators with integrated strain limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft…
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…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…