Related papers: Self-Mixing Laser Interferometry for Robotic Tacti…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while…
Laser self-mixing is in principle a simple and robust general purpose interferometric method, with the additional expressivity which results from nonlinearity. However, it is rather sensitive to unwanted changes in target reflectivity,…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
Despite significant advances in touch and force transduction, tactile sensing is still far from ubiquitous in robotic manipulation. Existing methods for building touch sensors have proven difficult to integrate into robot fingers due to…
Tracking moving masses in several degrees of freedom with high precision and large dynamic range is a central aspect in many current and future gravitational physics experiments. Laser interferometers have been established as one of the…
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the requirements for more skilful manipulation, there should be…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…
Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interaction with the environment. In particular, tactile sensing is…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
Robot touch can benefit from how humans perceive tactile textural information, from the stimulation mode to which tactile channels respond, then the tactile cues and encoding. Using a soft biomimetic tactile sensor (the TacTip) based on the…