11 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…
Static and Dynamic Representations for Tactile Contact-Angle Estimation with Event-Based Sensors
Yanhui Lu, Efi Psomopoulou, Benjamin Ward-Cherrier
Event-based tactile sensing offers low-latency signal acquisition for contact-rich robotic interaction. This paper investigates contact-angle estimation using event streams from an…
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…
Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO MINDSTORMS
Jared K. Lepora, Haoran Li, Efi Psomopoulou +1
This paper introduces an anthropomorphic robot hand built entirely using LEGO MINDSTORMS: the Educational SoftHand-A, a tendon-driven, highly-underactuated robot hand based on the…