4 papers · 1 filter
Detection and Ranging of Transient Extrinsic Contacts Based on 6D Dynamic Tactile Sensing
Haowen Zheng, Yinghao Wu, Fuyuan Liu +2
Delicate manipulation often involves transient and subtle collisions between a grasped object and the environment. While the human hand localizes these contacts effortlessly thanks…
FingerEye: Learning Dexterous Manipulation with Continuous Vision-Tactile Sensing
Zhixuan Xu, Yichen Li, Xuanye Wu +2
Dexterous robotic manipulation requires perception that remains informative from pre-contact approach to contact initiation and post-contact control. We introduce FingerEye, a sens…
PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing
Ruohan Zhang, Uksang Yoo, Yichen Li +2
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenar…
TranTac: Leveraging Transient Tactile Signals for Contact-Rich Robotic Manipulation
Yinghao Wu, Shuhong Hou, Haowen Zheng +4
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these…