5 papers
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 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…
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…
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…