Related papers: Self-supervised perception for tactile skin covere…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
Many robotic hands currently rely on extremely dexterous robotic fingers and a thumb joint to envelop themselves around an object. Few hands focus on the palm even though human hands greatly benefit from their central fold and soft surface.…
Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…
Tactile sensing is a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing a significant role when extracting information about…
Handling non-rigid objects using robot hands necessities a framework that does not only incorporate human-level dexterity and cognition but also the multi-sensory information and system dynamics for robust and fine interactions. In this…
Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…
Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch…
Tactile perception is profoundly influenced by the surface properties of objects in contact. However, despite their crucial role in shaping tactile experiences, these material characteristics have been largely neglected in existing tactile…
Recently, tactile sensing has attracted great interest in robotics, especially for facilitating exploration of unstructured environments and effective manipulation. A detailed understanding of the surface textures via tactile sensing is…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
The mechanisms of infant development are far from understood. Learning about one's own body is likely a foundation for subsequent development. Here we look specifically at the problem of how spontaneous touches to the body in early infancy…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feature of ViTacTip is its transparent skin, which incorporates…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Tactile sensing plays a vital role in enabling robots to perform fine-grained, contact-rich tasks. However, the high dimensionality of tactile data, due to the large coverage on dexterous hands, poses significant challenges for effective…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…