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RainbowSight: A Family of Generalizable, Curved, Camera-Based Tactile Sensors For Shape Reconstruction
Megha H. Tippur, Edward H. Adelson
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but…
EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation
Branden Romero, Hao-Shu Fang, Pulkit Agrawal +1
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand ma…
Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks
Jialiang Zhao, Yuxiang Ma, Lirui Wang +1
This paper presents T3: Transferable Tactile Transformers, a framework for tactile representation learning that scales across multi-sensors and multi-tasks. T3 is designed to overc…
A Passively Bendable, Compliant Tactile Palm with RObotic Modular Endoskeleton Optical (ROMEO) Fingers
Sandra Q. Liu, Edward H. Adelson
Many robotic hands currently rely on extremely dexterous robotic fingers and a thumb joint to envelop themselves around an object. Few hands focus on the palm even though human han…
GelLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception
Yuxiang Ma, Jialiang Zhao, Edward Adelson
Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is u…