4 papers
Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin
Haofeng Chen, Carson Kohlbrenner, Jiri Kubik +6
Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments, but conventional taxel arrays scale poorly with surface area, wiring com…
ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation
Lukas Rustler, Matej Hoffmann
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation…
A Human-Inspired Thumb-Index Robotic Hand with Strain Gauges Embedded in Soft Joints
Jonas Papenbrock, Shubhan Patni, Tomaso Lisini Baldi +4
Human hand grasp adaptation depends mainly on the synergy between physical structure and biological feedback. Inspired by this biomechanical principle, the Safe Thumb-Index Robotic…
Multi-Touch and Bending Sensing Using Electrical Impedance Tomography for Robotics
Haofeng Chen, Bedrich Himmel, Bin Li +2
Electrical Impedance Tomography (EIT) offers a promising solution for distributed tactile sensing with minimal wiring and full-surface coverage in robotic applications. However, EI…