Related papers: TactiVerse: Generalizing Multi-Point Tactile Sensi…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance…
Tactile sensing plays a vital role in enabling robots to perform fine-grained, contact-rich tasks. However, the high dimensionality of tactile data, due to the large coverage on dexterous hands, poses significant challenges for effective…
Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the…
The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer…
Vision-Based Tactile Sensors (VBTSs) are widely used in robotic tasks because of the high spatial resolution they offer and their relatively low manufacturing costs. However, variations in their sensing mechanisms, structural dimension, and…
Skin-like tactile sensors provide robots with rich feedback related to the force distribution applied to their soft surface. The complexity of interpreting raw tactile information has driven the use of machine learning algorithms to convert…
Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects…
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…
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body deformations of the silicone gel. However, accurately inferring…
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…
Human texture perception is a weighted average of multi-sensory inputs: visual and tactile. While the visual sensing mechanism extracts global features, the tactile mechanism complements it by extracting local features. The lack of coupled…
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…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…
Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for shape perception, it becomes unreliable under occlusions or…
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties as well as force dynamics. Although optical tactile sensors are uniquely…
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…
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…
In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected…