相关论文: Tactile Data Recording System for Clothing with Mo…

The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led…

Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…

Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…

To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…

Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…

Tactile sensing is used by humans when grasping to prevent us dropping objects. One key facet of tactile sensing is slip detection, which allows a gripper to know when a grasp is failing and take action to prevent an object being dropped.…

Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high…

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.…

Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…

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…

High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…

Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…

Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…

Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…

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…

Haptic sciences and technologies benefit greatly from comprehensive datasets that capture tactile stimuli under controlled, systematic conditions. However, existing haptic datasets collect data through uncontrolled exploration, which…

This paper proposes a novel framework for utilizing skin sensors as a new operation interface of complex robots. The skin sensors employed in this study possess the capability to quantify multimodal tactile information at multiple contact…

Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…