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A new method is presented to manufacture piezoresistive tactile sensors using fused deposition modelling (FDM)printing technology with two different filaments made of thermoplastic polyurethane (TPU) and polylactic acid-graphene (PLA-G)…

Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones…

In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile sensors (taxels), we use interpolation techniques. The…

Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…

Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…

Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…

Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

Tactile sensing has recently been used in robotics for object identification, grasping, and material recognition. Most material recognition approaches use vibration information from a tactile exploration, typically above one second long, to…

Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…

Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively…

Vision-based tactile sensors have been widely studied in the robotics field for high spatial resolution and compatibility with machine learning algorithms. However, the currently employed sensor's imaging system is bulky limiting its…

3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…

Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…

High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…

This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…

Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…

Human skin can accurately sense the self-decoupled normal and shear forces when in contact with objects of different sizes. Although there exist many soft and conformable tactile sensors on robotic applications able to decouple the normal…

A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first…

There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…