相关论文: Data-driven Super-resolution on a Tactile Dome

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

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…

Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor's spatial resolution is about…

Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation:…

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…

Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its…

Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…

Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…

Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study,…

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…

Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…

Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of small objects. This work proposed a framework for end-to-end…

Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…

In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continuous physical interactions. In these tasks, the coverage…

Three-dimensional (3D) applications have come to every corner of life. We present 3DTouch, a novel 3D wearable input device worn on the fingertip for interacting with 3D applications. 3DTouch is self-contained, and designed to universally…

We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…

The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…

Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the…