We develop an optical multimodal-sensing skin for fingers of a robotic gripper. This sensor
consists of a transparent skin made with a marked soft elastic outer layer on a hard layer …

We explore manipulation strategies that use vision-based tactile sensing. FingerVision is a
vision-based tactile sensor that provides rich tactile sensation as well as proximity sensing …

This paper introduces a vision-based tactile sensor FingerVision, and explores its
usefulness in tactile behaviors. FingerVision consists of a transparent elastic skin marked …

This work describes the development of a high-resolution tactile-sensing finger for robot
grasping. This finger, inspired by previous GelSight sensing techniques (Johnson and …

We present a novel tactile sensor, which is applied for dextrous grasping with a simple robot
gripper. The hardware novelty consists of an array of capacitive sensors, which couple to the …

In this paper, a tactile sensing system for an anthropomorphic robot hand is presented. The
tactile sensing system is designed as a construction kit making it very versatile. The sensor …

The perception of surface properties such as shape and slipperiness is crucial to ensure that
the hand-held object is stable. Without touch, precise manipulation becomes difficult. Some …

In this paper we introduce a novel way of producing highly sensitive 3D-shaped tactile
sensors. The sense of touch is critical for enabling humans to master intricate manual …

We introduce and evaluate contact-based techniques to estimate tactile properties and
detect manipulation events using a biomimetic tactile sensor. In particular, we estimate …

We describe a novel three-finger robot hand that has high resolution tactile sensing along
the entire length of each finger. The fingers are compliant, constructed with a soft shell …