Related papers: Training Tactile Sensors to Learn Force Sensing fr…
Today's touch sensors come in many shapes and sizes. This has made it challenging to develop general-purpose touch processing methods since models are generally tied to one specific sensor design. We address this problem by performing…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Analysis of grip force signals tailored to hand and finger movement evolution and changes in grip force control during task execution provide unprecedented functional insight into somatosensory cognition. Somatosensory cognition is the…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Wearable biosensor technology enables real-time, convenient, and continuous monitoring of users behavioral signals. Such include signals relative to body motion, body temperature, biological or biochemical markers, and individual grip…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback,…
People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Humans are able to convey different messages using only touch. Equipping robots with the ability to understand social touch adds another modality in which humans and robots can communicate. In this paper, we present a social gesture…
The human somatosensory cortex is intimately linked to other central brain functions such as vision, audition, mechanoreception, and motor planning and control. These links are established through brain learning, and display a considerable…
Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unified representation that captures the shared information…
Tactile information is important for gripping, stable grasp, and in-hand manipulation, yet the complexity of tactile data prevents widespread use of such sensors. We make use of an unsupervised learning algorithm that transforms the complex…