相关论文: M3D-skin: Multi-material 3D-printed Tactile Sensor…

The development of wearable sensing systems for sports performance tracking, rehabilitation, and injury prevention has driven growing demand for smart garments that combine comfort, durability, and accurate motion detection. This paper…

We present 3DTouch, a novel 3D wearable input device worn on the fingertip for 3D manipulation tasks. 3DTouch is designed to fill the missing gap of a 3D input device that is self-contained, mobile, and universally working across various 3D…

Electronic skin, a class of wearable electronic sensors that mimic the functionalities of human skin, has made remarkable success in applications including health monitoring, human-machine interaction and electronic-biological interfaces.…

While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasping and in-hand manipulation. We propose a novel sensor…

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…

While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySkin addresses the critical challenges that impede the use of…

The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…

This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered…

High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…

We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…

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…

The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…

Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…

Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…

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,…

Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

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…

Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…

Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…