Related papers: StereoTacTip: Vision-based Tactile Sensing with Bi…
Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arrays. This paper proposes SuperMag, a tactile shape…
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…
To achieve human-like haptic perception in anthropomorphic grippers, the compliant sensing surfaces of vision tactile sensor (VTS) must evolve from conventional planar configurations to biomimetically curved topographies with continuous…
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…
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential displacement but completely occlude geometric features…
Vision-based tactile sensors (VBTS) have gained widespread application in robotic hands, grippers and prosthetics due to their high spatial resolution, low manufacturing costs, and ease of customization. While VBTSs have common design…
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…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…
This paper presents a neuromorphic, event-driven tactile sensing system for soft, large-area skin, based on the Dynamic Vision Sensors (DVS) integrated with a flexible silicone optical waveguide skin. Instead of repetitively scanning…
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…
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…
Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…
Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance…
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of…
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…
Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency,…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel…