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

The tactile sensation of textiles is critical in determining the comfort of clothing. For remote use, such as online shopping, users cannot physically touch the textile of clothes, making it difficult to evaluate its tactile sensation.…

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…

We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…

Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…

Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…

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 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…

Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer…

In order to utilize identification to the best extent, we need robust and fast algorithms and systems to process the data. Having palmprint as a reliable and unique characteristic of every person, we extract and use its features based on…

In this study, we have proposed a new type of tactile sensor that is capable of detecting the stiffness of soft objects. The sensor consists of a brass cylinder with an axial bore. An iron core can easily move inside the bore. Three…

Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and…

Material recognition can help inform robots about how to properly interact with and manipulate real-world objects. In this paper, we present a multimodal sensing technique, leveraging near-infrared spectroscopy and close-range high…

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…

To enhance robotic grasping capabilities, we are developing new contactless fingertip sensors to measure distance in close proximity and simultaneously detect the type of material and the interior structure. These sensors are referred to as…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…

Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…

Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…