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PaLmTac: A vision-based tactile sensor leveraging distributed-modality design and modal-matching recognition for soft hand perception
This paper proposes a vision-based tactile sensor (VBTS) embedded into the soft hand
palm, named PaLmTac. We adopt a distributed modality design instead of overlaying …
palm, named PaLmTac. We adopt a distributed modality design instead of overlaying …
Tac-Man: Tactile-informed prior-free manipulation of articulated objects
Integrating robots into human-centric environments such as homes, necessitates advanced
manipulation skills as robotic devices will need to engage with articulated objects such as …
manipulation skills as robotic devices will need to engage with articulated objects such as …
A soft skin with self-decoupled three-axis force-sensing taxels
Electronic skins integrating both normal and shear force per taxel have a wide range of
applications across diverse fields, including robotics, haptics and health monitoring. Current …
applications across diverse fields, including robotics, haptics and health monitoring. Current …
Sequential manipulation planning for over-actuated unmanned aerial manipulators
We investigate the sequential manipulation planning problem for unmanned aerial
manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation …
manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation …
[HTML][HTML] Sensorless robotized cable contour following and connector detection
This paper focuses on the identification of the connector of a semi-deformable object
(SDLO)(ie a deformable element as a cable featuring rigid parts as connectors) to perform …
(SDLO)(ie a deformable element as a cable featuring rigid parts as connectors) to perform …
Part-level scene reconstruction affords robot interaction
Existing methods for reconstructing interactive scenes primarily focus on replacing
reconstructed objects with CAD models retrieved from a limited database, resulting in …
reconstructed objects with CAD models retrieved from a limited database, resulting in …
Large-scale deployment of vision-based tactile sensors on multi-fingered grippers
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage
image measurements to provide high-spatial-resolution human-like performance. However …
image measurements to provide high-spatial-resolution human-like performance. However …
MiniTac: An Ultra-Compact 8 mm Vision-Based Tactile Sensor for Enhanced Palpation in Robot-Assisted Minimally Invasive Surgery
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over
traditional open and laparoscopic methods. However, a significant limitation of robot …
traditional open and laparoscopic methods. However, a significant limitation of robot …
A compact fingertip-shaped visuo-tactile sensor for manipulator adaptive gras** control
Tactile feedback facilitates monitoring and adjusting the contact state by the manipulator, but
operational compliance with the object's physical properties remains challenging. This …
operational compliance with the object's physical properties remains challenging. This …
3D force identification and prediction using deep learning based on a Gelsight-structured sensor
The mechanics perception of human surface cells is very important for humans to grasp
objects. However, most of the mainstream sensors are based on electronic principles, and …
objects. However, most of the mainstream sensors are based on electronic principles, and …