相关论文: Self-supervised perception for tactile skin covere…
If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily…
Tactile sensing is critical for learning-based dexterous manipulation, yet principled guidelines for sensor placement remain largely absent. While dense sensor arrays provide rich contact feedback, they impose significant hardware costs and…
Effective communication of robotic touch intent is a key factor in promoting safe and predictable physical human-robot interaction (pHRI). While intent communication has been widely studied, existing approaches lack the spatial specificity…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…
Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…
In this paper, we propose a novel framework for tactile-based dexterous manipulation learning with a blind anthropomorphic robotic hand, i.e. without visual sensing. First, object-related states were extracted from the raw tactile signals…
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt its actions throughout interaction.…
Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…
Tactile sensors can provide detailed contact in-formation that can facilitate robots to perform dexterous, in-hand manipulation tasks. One of the primitive but important tasks is surface following that is a key feature for robots while…
In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…
The biological skin enables animals to sense various stimuli. Extensive efforts have been made recently to develop smart skin-like sensors to extend the capabilities of biological skins; however, simultaneous sensing of several types of…
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Though robotic dexterous manipulation has progressed substantially recently, challenges like in-hand occlusion still necessitate fine-grained tactile perception, leading to the integration of more tactile sensors into robotic hands.…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…