相关论文: Gel-OPTOFORT Sensor: Multi-axis Force/Torque Measu…
Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight,…
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing…
Vision-based tactile sensors (VBTSs) are a promising technology for robots, providing them with dense signals that can be translated into a multi-faceted understanding of contact. However, existing VBTS tactile surfaces make use of silicone…
Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…
Compliance is a critical parameter for describing objects in engineering, agriculture, and biomedical applications. Traditional compliance detection methods are limited by their lack of portability and scalability, rely on specialized,…
We propose an experiment using optically trapped and cooled dielectric microspheres for the detection of short-range forces. The center-of-mass motion of a microsphere trapped in vacuum can experience extremely low dissipation and quality…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
We present an optomechanical device platform for characterization of optical, thermal, and rheological properties of fluids on the micron scale. A suspended silicon microdisk resonator with a vibrating mass of 100 fg and an effective…
In this paper, a capacitive flexible tactile sensor was designed to measure the pressure of objects based on MEMS technology. This sensor is a structure of a 4x4 array, with metal Ag as the capacitive electrode, which forms the tactile…