相关论文: Scalable, Simulation-Guided Compliant Tactile Fing…
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…
The synthesis of tactile sensing with compliance is essential to many fields, from agricultural usages like fruit picking, to sustainability practices such as sorting recycling, to the creation of safe home-care robots for the elderly to…
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…
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…
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…
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…
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…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
Modelling complex deformation for soft robotics provides a guideline to understand their behaviour, leading to safe interaction with the environment. However, building a surrogate model with high accuracy and fast inference speed can be…
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…
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack…
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…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
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…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
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…
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of…
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited to flat-surface sensors, which prevents their usage…