相关论文: Analysing the Interplay of Vision and Touch for De…

Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…

Motivated by the growing interest in enhancing intuitive physical Human-Machine Interaction (HRI/HVI), this study aims to propose a robust tactile hand gesture recognition system. We performed a comprehensive evaluation of different hand…

In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…

Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited…

This paper presents a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects. In particular, we propose the use of electrotactile feedback to render the interpenetration distance…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

In the human hand, high-density contact information provided by afferent neurons is essential for many human grasping and manipulation capabilities. In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are…

Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…

Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…

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…

Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to…

Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…

Large-scale, high-quality multimodal demonstrations are essential for robot learning of contact-rich dexterous manipulation. While human-centric data collection systems lower the barrier to scaling, they struggle to capture the tactile…

This article introduces the ManiSkill-ViTac Challenge 2025, which focuses on learning contact-rich manipulation skills using both tactile and visual sensing. Expanding upon the 2024 challenge, ManiSkill-ViTac 2025 includes 3 independent…

High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the entire area of the hand impedes the rich, low-level…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…