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Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
Vision-based tactile sensors have the potential to provide important contact geometry to localize the objective with visual occlusion. However, it is challenging to measure high-resolution 3D contact geometry for a compact robot finger, to…
Tactile sensing is crucial for robots aiming to achieve human-level dexterity. Among tactile-dependent skills, tactile-based object tracking serves as the cornerstone for many tasks, including manipulation, in-hand manipulation, and 3D…
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…
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…
Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…
The contour estimation of transparent fragments is very important for autonomous reassembly, especially in the fields of precision optical instrument repair, cultural relic restoration, and identification of other precious device broken…
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
High-fidelity visuo-tactile sensing is important for precise robotic manipulation. However, most vision-based tactile sensors face a fundamental trade-off: opaque coatings enable tactile sensing but block pre-contact vision. To address…
In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the…
This work tackles the challenging task of achieving real-time novel view synthesis for reflective surfaces across various scenes. Existing real-time rendering methods, especially those based on meshes, often have subpar performance in…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
In this paper, we present the TacShade a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and…
In this paper, a novel fully 3D, microfluidic-oriented, gel-based, and low-cost highly stretchable resistive sensors have been presented. By the proposed method we are able to measure and discriminate all of the stretch, twist, and pressure…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…