Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …

Recent advances in both anthropomorphic robots and bimanual industrial manipulators had
led to an increased interest in the specific problems pertaining to dual arm manipulation. For …

An anthropomorphic hand arm system using variable stiffness actuation has been
developed at DLR. It is aimed to reach its human archetype regarding size, weight and …

This article presents a holistic approach to the engineering of an artificial robot skin for
robots. An example of a multimodal skin cell is given, one that supports multiple human-like …

Even though the sense of touch is crucial for humans, most humanoid robots lack tactile
sensing. While a large number of sensing technologies exist, it is not trivial to incorporate …

This paper surveys recently published literature on tactile sensing in robotic manipulation to
understand effective strategies for using tactile sensing and the issues involved in tactile …

Distributed tactile sensing is crucial to perform stable, subtle, and precise manipulation so
that a robot can recognize and handle objects properly. However, currently existing skin …

Capacitive technology allows building sensors that are small, compact and have high
sensitivity. For this reason it has been widely adopted in robotics. In a previous work we …

Tactile sensing is one important element that can enable robots to interact with an
unstructured world. By having tactile perception, a robot can explore its environment by …

Enabling robots to safely interact with humans is an essential goal of robotics research. The
developments achieved over recent years in mechanical design and control made it …