2025
Model-Based Capacitive Touch Sensing in Soft Robotics: Achieving Robust Tactile Interactions for Artistic Applications
Carolina Silva Plata, Carlos Rosel, Barnabas Gavin Cangan, Hosam Alagi, Björn Hein, Robert K. Katzschmann +3
RA-L 2025
In this letter, we present a touch technology to achieve tactile interactivity for human-robot interaction (HRI) in soft robotics. By combining a capacitive touch sensor with an online solid mechanics simulation provided by the SOFA framework, contact detection is achieved for arbitrary shapes. Furt