相关论文: Design of a Biomimetic Tactile Sensor for Material…

Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…

Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…

Whole body tactile perception via tactile skins offers large benefits for robots in unstructured environments. To fully realize this benefit, tactile systems must support real-time data acquisition over a massive number of tactile sensor…

In humans, the tactile perception of fine textures is mediated by skin vibrations when scanning the surface with the fingertip. These vibrations are encoded by specific mechanoreceptors, Pacinian corpuscules (PCs), located about 2 mm below…

This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…

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 provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility 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…

This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…

Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…

The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…

Recently, tactile sensing has attracted great interest in robotics, especially for facilitating exploration of unstructured environments and effective manipulation. A detailed understanding of the surface textures via tactile sensing is…

Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…

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…

The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

Soft robotics is an emerging field that yields promising results for tasks that require safe and robust interactions with the environment or with humans, such as grasping, manipulation, and human-robot interaction. Soft robots rely on…

Bringing tactile sensation to robotic hands will allow for more effective grasping, along with the wide range of benefits of human-like touch. Here we present a 3D-printed, three-fingered tactile robot hand comprising an OpenHand Model O…

High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…