Related papers: High-Bandwidth Tactile-Reactive Control for Grasp …
We present a force feedback controller for a dexterous robotic hand equipped with force sensors on its fingertips. Our controller uses the conditional postural synergies framework to generate the grasp postures, i.e. the finger…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
Cardiopulmonary resuscitation (CPR) is a critical life-saving procedure, and effective training benefits from self-directed practice beyond instructor-led sessions. In this paper, we propose a closed-loop CPR training glove that integrates…
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
Despite progress in both traditional dexterous grasping pipelines and recent Vision-Language-Action (VLA) approaches, the grasp execution stage remains prone to pose inaccuracies, especially in long-horizon tasks, which undermines overall…
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…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…
Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human operated manipulators or exoskeletons. The key insight is to…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…