相关论文: Learning Force Distribution Estimation for the Gel…
Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal…
Contact-based estimation of object pose is challenging due to discontinuities and ambiguous observations that can correspond to multiple possible system states. This multimodality makes it difficult to efficiently sample valid hypotheses…
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,…
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…
Tactile sensing, which relies on direct physical contact, is critical for human perception and underpins applications in computer vision, robotics, and multimodal learning. Because tactile data is often scarce and costly to acquire,…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…
Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation…
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…
Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addresses this problem by applying machine learning techniques to…
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces directly from observing the bubble surface because local…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…
Today's touch sensors come in many shapes and sizes. This has made it challenging to develop general-purpose touch processing methods since models are generally tied to one specific sensor design. We address this problem by performing…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…
Purpose. Precise placement of needles is a challenge in a number of clinical applications such as brachytherapy or biopsy. Forces acting at the needle cause tissue deformation and needle deflection which in turn may lead to misplacement or…
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…