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Collaborative robots are expected to physically interact with humans in daily living and workplace, including industrial and healthcare settings. A related key enabling technology is tactile sensing, which currently requires addressing the…

Grasping objects requires tight integration between visual and tactile feedback. However, there is an inherent difference in the scale at which both these input modalities operate. It is thus necessary to be able to analyze tactile feedback…

Achieving safe, reliable real-world robotic manipulation requires agents to evolve beyond vision and incorporate tactile sensing to overcome sensory deficits and reliance on idealised state information. Despite its potential, the efficacy…

This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…

Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…

This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

Effective communication of robotic touch intent is a key factor in promoting safe and predictable physical human-robot interaction (pHRI). While intent communication has been widely studied, existing approaches lack the spatial specificity…

Emotion expressions serve as important communicative signals and are crucial cues in intuitive interactions between humans. Hence, it is essential to include these fundamentals in robotic behavior strategies when interacting with humans to…

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…

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…

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…

Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…

Robotic touch, particularly when using soft optical tactile sensors, suffers from distortion caused by motion-dependent shear. The manner in which the sensor contacts a stimulus is entangled with the tactile information about the geometry…

Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…

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…

Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…

Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…

In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…