Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

Tactile sensing is an important perception mode for robots, but the existing tactile
technologies have multiple limitations. What kind of tactile information robots need, and how …

Vision-based haptic sensors have emerged as a promising approach to robotic touch due to
affordable high-resolution cameras and successful computer vision techniques; however …

Building general-purpose robots that operate seamlessly in any environment, with any
object, and utilizing various skills to complete diverse tasks has been a long-standing goal in …

This work presents a new version of tactile-sensing finger, GelSlim 3.0, which integrates the
ability to sense high-resolution shape, force, and slip in a more compact form factor than …

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most
recent robotic grasping work, however, has been based only on visual input, and thus …

A vision-based tactile sensor (VBTS) is an innovative optical sensor widely applied in robotic
perception. The VBTS consists of a contact module, an illumination module, and a camera …

This work describes the development of a high-resolution tactile-sensing finger for robot
grasping. This finger, inspired by previous GelSight sensing techniques (Johnson and …

Humans can handle and manipulate objects with ease; however, human dexterity has yet to
be matched by artificial systems. Receptors in our fingers and hands provide essential tactile …

A successful grasp requires careful balancing of the contact forces. Deducing whether a
particular grasp will be successful from indirect measurements, such as vision, is therefore …