相关论文: A Tactile Sensor for Detection of Skin Surface Mor…
Human skin provides crucial tactile feedback, allowing us to skillfully perceive various objects by sensing and encoding complex deformations through multiple parameters in each tactile receptor. However, replicating this high-dimensional…
In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feature of ViTacTip is its transparent skin, which incorporates…
As the largest organ in the human body, the skin provides the important sensory channel for humans to receive external stimulations based on touch. By the information perceived through touch, people can feel and guess the properties of…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
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…
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential displacement but completely occlude geometric features…
This study presents a novel approach for touch sensing using semi-elastic textile surfaces that does not require the placement of additional sensors in the sensing area, instead relying on sensors located on the border of the textile. The…
Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…
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.…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…
Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…