Related papers: Simultaneous Tactile-Visual Perception for Learnin…

To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…

Robots engaged in complex manipulation tasks require robust material property recognition to ensure adaptability and precision. Traditionally, visual data has been the primary source for object perception; however, it often proves…

Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…

Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…

Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…

Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high durability and tactile density. However, the large sim-to-real…

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…

We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins offer a flexible form factor for hand-wide coverage with fast…

Dexterous manipulation is a cornerstone capability for robotic systems aiming to interact with the physical world in a human-like manner. Although vision-based methods have advanced rapidly, tactile sensing remains crucial for fine-grained…

Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing principles (e.g., optical vs. magnetic), form factors, and…

We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…

Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile…

Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…

The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…

Stretchable sensors indicate promising prospects for soft robotics, medical devices, and human-machine interactions due to the high compliance of soft materials. Discrete sensing strategies, including sensor arrays and distributed sensors,…

Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability, we introduce Tactile Memory with Soft Robot (TaMeSo-bot), a…