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Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping…
This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…
The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…
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…
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…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
Current methods to estimate object shape---using either vision or touch---generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…