15 papers
Towards Artificial Nerves: Biomimetic Optical-Fiber Tactile Sensing for Robots
Laura E. Butcher, Chris J. Ford, Nathan F. Lepora +1
Robotic systems increasingly demand tactile sensing that approaches the adaptability and resolution of human skin to enable dexterous manipulation and safe interaction. OptiTac is…
NeuralTouch: Neural Descriptors for Precise Sim-to-Real Tactile Robot Control
Yijiong Lin, Bowen Deng, Keju Pu +4
Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) of…
How to Train your Tactile Model: Tactile Perception with Multi-fingered Robot Hands
Christopher J. Ford, Kaichen Shi, Laura Butcher +2
Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, curr…
SoftHand Model-W: A 3D-Printed, Anthropomorphic, Underactuated Robot Hand with Integrated Wrist and Carpal Tunnel
Dhillon B. Merritt, Christopher J. Ford, Haoran Li +4
This paper presents the SoftHand Model-W: a 3D-printed, underactuated, anthropomorphic robot hand based on the Pisa/IIT SoftHand, with an integrated antagonistic tendon mechanism a…
UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
Zhuo Chen, Fei Ni, Kaiyao Luo +7
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing pri…
TacFinRay: Soft Tactile Fin-Ray Finger with Indirect Tactile Sensing for Robust Grasping
Saekwang Nam, Bowen Deng, Loong Yi Lee +2
We present a tactile-sensorized Fin-Ray finger that enables simultaneous detection of contact location and indentation depth through an indirect sensing approach. A hinge mechanism…