Robotics paper index
Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing
One-line summary
A robotics research paper on Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing.
Engineering notes
Engineering notes will be added by the Robot Papers editorial team.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations. The sensor is designed for rapid and low-cost fabrication using a combination of standard PCB manufacturing and rapid prototyping techniques.
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