Related papers: External Photoreflective Tactile Sensing Based on …
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…
Tactile skins based on Electrical Impedance Tomography (EIT) enable large-area contact localization with few electrodes, but suffer from nonuniform sensitivity that limits force estimation accuracy. This work introduces a dual-channel…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…
Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…
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…
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…
Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
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…
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…