相关论文: DenseTact 2.0: Optical Tactile Sensor for Shape an…

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…

Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…

Tactile perception is crucial for embodied intelligent robots to recognize objects. Vision-based tactile sensors extract object physical attributes multidimensionally using high spatial resolution; however, this process generates abundant…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

In this paper, we present the TacShade a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and…

This work presents NeuroTouch, an optical-based tactile sensor that combines a highly deformable dome-shaped soft material with an integrated neuromorphic camera, leveraging frame-based and dynamic vision for gesture detection. Our approach…

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…

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…

The contour estimation of transparent fragments is very important for autonomous reassembly, especially in the fields of precision optical instrument repair, cultural relic restoration, and identification of other precious device broken…

Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…

Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it meanwhile suffers from training data…

The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…

Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

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…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

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…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…