3 accepted papers
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this work, we address these limitations by introducing a novel m…
Hardness sensing is a valuable capability for a robot touch sensor. We describe a novel method of hardness sensing that does not require accurate control of contact conditions. A GelSight sensor is a tactile sensor that provides high resolution tactile images, which enables a robot to infer object p…
Artificial tactile sensing is still underdeveloped, especially in sensing shear and slip on a contact surface. For a robot hand to manually explore the environment or perform a manipulation task such as grasping, sensing of shear forces and detecting incipient slip is important. In this paper, we in…