50 citations · 77 across the 16 of their papers we have counts for
18 papers
FEM-Validated Real-Time Modelling of Soft Tactile Deformation
Silvia Terrile, Kaichen Shi, Taejun Kwon +5
Accurate modelling of soft tactile sensors remains difficult because finite element methods (FEM) are computa- tionally expensive, while real-time simulators often lack fidelity fo…
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…
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…
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…
A Neuromorphic Incipient Slip Detection System using Papillae Morphology
Yanhui Lu, Zeyu Deng, Stephen J. Redmond +2
Detecting incipient slip enables early intervention to prevent object slippage and enhance robotic manipulation safety. However, deploying such systems on edge platforms remains ch…
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions
Harrison Field, Max Yang, Yijiong Lin +3
Large language models (LLMs) are beginning to automate reward design for dexterous manipulation. However, no prior work has considered tactile sensing, which is known to be critica…
Classification of Vision-Based Tactile Sensors: A Review
Haoran Li, Yijiong Lin, Chenghua Lu +3
Vision-based tactile sensors (VBTS) have gained widespread application in robotic hands, grippers and prosthetics due to their high spatial resolution, low manufacturing costs, and…
Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands
Christopher J. Ford, Haoran Li, Manuel G. Catalano +3
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile senso…
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
Haoran Li, Christopher J. Ford, Chenghua Lu +5
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human…
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
Max Yang, Chenghua Lu, Alex Church +6
Human hands are capable of in-hand manipulation in the presence of different hand motions. For a robot hand, harnessing rich tactile information to achieve this level of dexterity…
Learning Fine Pinch-Grasp Skills using Tactile Sensing from A Few Real-world Demonstrations
Xiaofeng Mao, Yucheng Xu, Ruoshi Wen +5
Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-effic…
An Overview of Robotic Grippers
Mr Thomas J. Cairnes, Mr Christopher J. Ford, Dr Efi Psomopoulou +1
The development of robotic grippers is driven by the need to execute particular manual tasks or meet specific objectives in handling operations. Grippers with specific functions va…
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks
Christopher J. Ford, Haoran Li, John Lloyd +4
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactil…
BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies
Haoran Li, Christopher J. Ford, Matteo Bianchi +3
This paper introduces the BRL/Pisa/IIT (BPI) SoftHand: a single actuator-driven, low-cost, 3D-printed, tendon-driven, underactuated robot hand that can be used to perform a range o…
A Robust Controller for Stable 3D Pinching using Tactile Sensing
Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos +3
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on…