相关论文: Large-Scale Integrated Flexible Tactile Sensor Arr…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
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…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) offer high local resolution but require…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
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…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Robots require full-body, high-resolution tactile sensing to operate safely in unstructured environments, enabling reflexive responses and closed-loop control. However, the pixel counts needed for dense, large-area coverage limit readout…
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…
Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile…
Hyperdimensional computing (HDC) is an emerging computing paradigm that exploits the distributed representation of input data in a hyperdimensional space, the dimensions of which are typically between 1,000--10,000. The hyperdimensional…
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…
Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…
A novel, highly flexible capacitor fiber (with 100 nF m-1 typical capacitance per length) having a multilayer periodic structure of dielectric and conductive polymer composite films is fabricated by drawing technique. The fiber is used to…
Tactile sensing is crucial for embodied intelligence, providing fine-grained perception and control in complex environments. However, efficient tactile data compression, which is essential for real-time robotic applications under strict…
The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tactile sensors realize high-resolution, large-area tactile…
Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…