相关论文: A Tactile Sensor for Detection of Skin Surface Mor…

Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…

We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part of the touch pleasantness. The robotic cover surface can be…

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…

Tactile sensors supply useful information during the interaction with an object that can be used for assessing the stability of a grasp. Most of the previous works on this topic processed tactile readings as signals by calculating…

We study the responses of two tactile sensors, the fingertip sensor from the iCub and the BioTac under different external stimuli. The question of interest is to which degree both sensors i) allow the estimation of force exerted on the…

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…

While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…

Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural…

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…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the…

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

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…

Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…

Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…

Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…

Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…

Sensory feedback is critical to the performance of neural prostheses that restore movement control after neurological injury. Recent advances in direct neural control of paralyzed arms present new requirements for miniaturized, low-power…