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FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation

arxiv.org · 7,942 words · saved by 1 readers

This is experimental HTML to improve accessibility. We invite you to report rendering errors. Use Alt+Y to toggle on accessible reporting links and Alt+Shift+Y to toggle off. Learn more about this project and help improve conversions. HTML conversions sometimes display errors due to content that did not convert correctly from the source. This paper uses the following packages that are not yet supported by the HTML conversion tool. Feedback on these issues are not necessary; they are known and are being worked on. Authors: achieve the best HTML results from your LaTeX submissions by following these best practices. Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these issues through FORTE, an easy-to-fabricate tactile sensing system. FORTE uses 3D-printed fin-ray grippers with internal air channels to pr

FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation Siqi Shang, Mingyo Seo, Yuke Zhu, and Lillian Chin This work was partially supported by the Texas Robotics Industrial Affiliate Program, the National Science Foundation (FRR-2145283, EFRI-2318065), the Office of Naval Research (N00014-24-1-2550), the DARPA TIAMAT program (HR0011-24-9-0428), and the Institute of Information & Communications Technology Planning & Evaluation (IITP) grant funded by the Korean Government (MSIT) (No. RS-2024-00457882, National AI Research Lab Project). All authors are with The Unive

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