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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…
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…
To foster an immersive and natural human-robot interaction, the implementation of tactile perception and feedback becomes imperative, effectively bridging the conventional sensory gap. In this paper, we propose a dual-modal electronic skin…
This paper presents a novel design of a soft tactile finger with omni-directional adaptation using multi-channel optical fibers for rigid-soft interactive grasping. Machine learning methods are used to train a model for real-time prediction…
Tapered optical fibers (TOFs) are used in many areas of physics and optical technologies ranging from coupling light into nanophotonic components to optical sensing and amplification to interfacing quantum emitters. Here, we study the…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
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…
In this paper, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA…
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…
This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
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 paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model. External contact forces are converted to magnetic field changes by…
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…
As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of…
The use of data-driven techniques for tactile data processing and classification has recently increased. However, collecting tactile data is a time-expensive and sensor-specific procedure. Indeed, due to the lack of hardware standards in…
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…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…