Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

This paper surveys recently published literature on tactile sensing in robotic manipulation to
understand effective strategies for using tactile sensing and the issues involved in tactile …

Interacting with virtual objects with haptic feedback directly using the user's hand (hand-
based haptic interaction) has attracted increasing attention. Due to the high degrees of …

In industrial assembly tasks, the in-hand pose of grasped objects needs to be known with
high precision for subsequent manipulation tasks such as insertion. This problem (in-hand …

A human hand can grasp a desired number of objects at once from a pile based solely on
tactile sensing. To do so, a robot needs to make a grasp in a pile, sense the number of …

Tracking the pose of an object while it is being held and manipulated by a robot hand is
difficult for vision-based methods due to significant occlusions. Prior works have explored …

Joint estimation of grasped object pose and extrinsic contacts is central to robust and
dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that …

In industrial assembly tasks, the position of an object grasped by the robot has to be known
with high precision in order to insert or place it. In real applications, this problem is …

In robotic manipulation, tactile sensors are indispensable, especially when dealing with soft
objects, objects of varying dimensions, or those out of the robot's direct line of sight …

Factory automation robot systems often depend on specially-made jigs that precisely
position each part, which increases the system's cost and limits flexibility. We propose a …