30 citations · 50 across the 18 of their papers we have counts for
19 papers · 1 filter
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…
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…
ViTacGen: Robotic Pushing with Vision-to-Touch Generation
Zhiyuan Wu, Yijiong Lin, Yongqiang Zhao +4
Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, re…
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…
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…
Tactile Robotics: An Outlook
Shan Luo, Nathan F. Lepora, Wenzhen Yuan +3
Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile…
StereoTacTip: Vision-based Tactile Sensing with Biomimetic Skin-Marker Arrangements
Chenghua Lu, Kailuan Tang, Xueming Hui +3
Vision-Based Tactile Sensors (VBTSs) stand out for their superior performance due to their high-information content output. Recently, marker-based VBTSs have been shown to give acc…
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…
Training Tactile Sensors to Learn Force Sensing from Each Other
Zhuo Chen, Ni Ou, Xuyang Zhang +8
Humans achieve stable and dexterous object manipulation by coordinating grasp forces across multiple fingers and palms, facilitated by a unified tactile memory system in the somato…
Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation
Dandan Zhang, Wen Fan, Jialin Lin +5
In this paper, we present the design and benchmark of an innovative sensor, ViTacTip, which fulfills the demand for advanced multi-modal sensing in a compact design. A notable feat…
ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing
Chuanyu Li, Renjun Dang, Xiang Li +8
This article introduces the ManiSkill-ViTac Challenge 2025, which focuses on learning contact-rich manipulation skills using both tactile and visual sensing. Expanding upon the 202…
TacPalm: A Soft Gripper with a Biomimetic Optical Tactile Palm for Stable Precise Grasping
Xuyang Zhang, Tianqi Yang, Dandan Zhang +1
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid gr…
BrainSLAM: SLAM on Neural Population Activity Data
Kipp Freud, Nathan Lepora, Matt W. Jones +1
Simultaneous localisation and mapping (SLAM) algorithms are commonly used in robotic systems for learning maps of novel environments. Brains also appear to learn maps, but the mech…
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor
Wen Fan, Haoran Li, Weiyong Si +3
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framewo…