相关论文: Design of a Multimodal Fingertip Sensor for Dynami…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for…
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device's design utilizes thin…
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions.…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Soft robotic fingers can improve adaptability in grasping and manipulation, compensating for geometric variation in object or environmental contact, but today lack force capacity and fine dexterity. Integrated tactile sensors can provide…
A wide range of haptic feedback is crucial for achieving high realism and immersion in virtual environments. Therefore, a multi-modal haptic interface that provides various haptic signals simultaneously is highly beneficial. This paper…
Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interaction with the environment. In particular, tactile sensing is…
Sensory substitution is an effective approach for displaying stable haptic feedback to a teleoperator under time delay. The finger is highly articulated, and can sense movement and force in many directions, making it a promising location…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
Incorporating touch as a sensing modality for robots can enable finer and more robust manipulation skills. Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. In this paper, we…
Advancing dexterous manipulation with multi-fingered robotic hands requires rich sensory capabilities, while existing designs lack onboard thermal and torque sensing. In this work, we propose the MOTIF hand, a novel multimodal and versatile…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be…
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…
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…
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…