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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…

In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…

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.…

Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…

Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…

Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of RAMIS is the surgeon's inability to palpate tissues, a crucial technique…

Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…

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…

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…

Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…

Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel…

Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…

The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment.…

In the long pursuit of smart robotics, it has been envisioned to empower robots with human-like senses, especially vision and touch. While tremendous progress has been made in image sensors and computer vision over the past decades, the…

Robotic fingers made of soft material and compliant structures usually lead to superior adaptation when interacting with the unstructured physical environment. In this paper, we present an embedded sensing solution using optical fibers for…

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 displays that lend tangible form to digital content could transform computing interactions. However, achieving the resolution, speed, and dynamic range needed for perceptual fidelity remains challenging. We present a tactile display…

Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…

Vision-based tactile sensors have been widely studied in the robotics field for high spatial resolution and compatibility with machine learning algorithms. However, the currently employed sensor's imaging system is bulky limiting its…

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…