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 …

The perception of slip is one of the distinctive abilities of human tactile sensing. The sense of
touch allows recognizing a wide set of properties of a grasped object, such as shape, weight …

Controlling contact with arbitrary, unknown objects defines a fundamental problem for
robotic grasping and in-hand manipulation. In real-world scenarios, where robots interact …

This paper presents a grasp force regulation strategy for precision grasps. The strategy
makes no assumptions about object properties and surface characteristics, and can be used …

Tactile sensing is fundamental for the human hand to achieve high dexterity. Most prosthetic
hands are still devoid of tactile sensors, implying that the user cannot perceive external …

The manipulation of objects held in a robotic hand or gripper is accompanied by events such
as making and breaking contact and slippage, between the fingertips and the grasped …

In this paper, we wish to build a high quality database of images depicting scenes, along
with their real-world three-dimensional (3D) coordinates. Such a database is useful for a …

This paper introduces the development of an anthropomorphic soft robotic hand integrated
with multiple flexible force sensors in the fingers. By leveraging on the integrated force …

An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by
slip detection. A regrasp is required afterwards to correct the grasp pose in order to finish the …

In this study, we innervated bio-inspired proprioception into a soft hand, facilitating a robust
perception of textures and object shapes. The tendon-driven soft finger with three joints …