Related papers: Skin-Machine Interface with Multimodal Contact Mot…
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…
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…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…
We propose a neuromorphic tactile sensing framework for robotic texture classification that is inspired by human exploratory strategies. Our system utilizes the NeuroTac sensor to capture neuromorphic tactile data during a series of…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution…
Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…
The efficacy of deep learning-based Computer-Aided Diagnosis (CAD) methods for skin diseases relies on analyzing multiple data modalities (i.e., clinical+dermoscopic images, and patient metadata) and addressing the challenges of multi-label…
Surface material recognition is a key component in robotic perception and physical interaction, particularly when leveraging both tactile and visual sensory inputs. In this work, we propose Surformer v1, a transformer-based architecture…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can…
We proposed a new type of tactile sensor that is capable of determining the surface morphology of skin lesions. The sensor consists of a brass cylinder with an axial bore. Three peripheral bobbins were machined in the cylinder around which…
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…
Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Tactile sensing in soft robots remains particularly challenging because of the coupling between contact and deformation information which the sensor is subject to during actuation and interaction with the environment. This often results in…