相关论文: GelSight Baby Fin Ray: A Compact, Compliant, Flexi…

To adapt to constantly changing environments and be safe for human interaction, robots should have compliant and soft characteristics as well as the ability to sense the world around them. Even so, the incorporation of tactile sensing into…

Recent advances in soft robotic hands and tactile sensing have enabled both to perform an increasing number of complex tasks with the aid of machine learning. In particular, we presented the GelSight Baby Fin Ray in our previous work, which…

Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects around them to precisely manipulate objects. However,…

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…

Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with…

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…

We present a tactile-sensorized Fin-Ray finger that enables simultaneous detection of contact location and indentation depth through an indirect sensing approach. A hinge mechanism is integrated between the soft Fin-Ray structure and a…

We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…

This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of…

Soft robots offer significant advantages in adaptability, safety, and dexterity compared to conventional rigid-body robots. However, it is challenging to equip soft robots with accurate proprioception and tactile sensing due to their high…

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…

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…

GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the…

This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered…

Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design…

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…

The internal structure of the Fin-Ray fingers plays a significant role in their adaptability and grasping performance. However, modeling the grasp force and deformation behavior for design purposes is challenging. When the Fin-Ray finger…

Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt its actions throughout interaction.…