Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping applications, reconstructing motion for object handling or fine manipulation from a human hand to a robot hand has been sparsely explored. Humans use tactile feedback to adjust their motion to various objects, but capturing and reproducing the applied forces is an open research question. In this paper we introduce a wearable fingertip tactile sensor, which captures the distributed 3-axis force vectors on the fingertip. The fingertip tactile sensor is interchangeable between the human hand and the robot hand, meaning that it can also be assembled to fit on a robot hand such as the Allegro hand. This paper presents the structural aspects of the sensor as well as the methodology and approach used to design, manufacture, and calibrate the sensor. The sensor is able to measure forces accurately with a mean absolute error of 0.21, 0.16, and 0.44 Newtons in X, Y, and Z directions, respectively.
TacPrint: A Wearable Fingertip Tactile Sensor for Human-to-Robot Contact Reproduction
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Imprintx Robotics（Imprintx机器人公司）；Beijing Academy of Artificial Intelligence（北京智源人工智能研究院）
Adding internal audio sensing to internal vision enables human-like in-hand fabric recognition with soft robotic fingertips
Haptic Intelligence Department, Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所人机交互部门）；Department for Distributed Intelligence / Autonomous Learning, University of Tübingen（图宾根大学分布式智能/自主学习部门）
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
School of Engineering Mathematics and Technology（工程数学与技术学院）；Bristol Robotics Laboratory（布里斯托尔机器人实验室）；University of Bristol（布里斯托尔大学）；School of Robotics（机器人学院）；Xi'an Jiaotong-Liverpool University（西安交通大学利物浦大学）；Department of Information Engineering（信息工程系）；Research Center "E.Piaggio"（E.Piaggio研究中心）；University of Pisa（比萨大学）；Soft Robotics for Human Cooperation and Rehabilitation（人机合作与康复软机器人）；Istituto Italiano di Tecnologia（意大利技术研究院）
Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand
University of Bristol（布里斯托大学）；Bristol Robotics Laboratory（布里斯托机器人实验室）
为机器人手带来触觉将允许更有效的抓握，以及类似人类触摸的广泛好处。在这里，我们提出了一个3D打印的三指触觉机器人手，包括一个定制的OpenHand Model O，用于在每个手指的远端指骨中容纳TacTip柔软的仿生触觉传感器。我们期望将这种欠驱动手的抓取能力与复杂的触觉感知相结合，将导致一个有效的机器人手研究平台-触觉模型O（T-MO）。该设计使用了三个JeVois机器视觉系统，每个系统都包括一个位于触觉指尖的微型摄像头和一个位于手底部的处理模块。为了评估T-MO的能力，我们使用YCB对象集上的抓取器评估基准对其抓取性能进行基准测试。触觉感知的能力进行评估，通过执行触觉对象分类的26个对象，并预测是否把握将成功地解除每个对象。结果与最新技术水平一致，利用了应用于触觉图像输出的深度学习的进步。总的来说，这项工作表明，T-MO是一个有效的平台，机器人手的研究，我们希望它打开了一系列的应用在自主物体处理。补充视频：https://youtu.be/RTcCpgffCrQ。
3D Vision-tactile Reconstruction from Infrared and Visible Images for Robotic Fine-grained Tactile Perception
State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology（数字制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学）
In-Hand Object Pose Estimation via Visual-Tactile Fusion
Department of Computer Science, Goethe Universität Frankfurt, Germany（弗赖堡大学计算机科学系）；Intelligent Autonomous Systems Lab, Department of Computer Science, TU Darmstadt, Germany（图恩-达姆斯塔德大学计算机科学系智能自主系统实验室）；German Research Center for AI (DFKI)（德国人工智能研究中心）；Centre for Cognitive Science, TU Darmstadt（图恩-达姆斯塔德大学认知科学中心）；Hessian Center for Artificial Intelligence (Hessian.AI), Darmstadt（黑森人工智能中心（Hessian.AI），达姆斯塔特）
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
Stanford University（斯坦福大学）；Meta；Technische Universität Dresden（德累斯顿技术大学）；School of Embedded and Composite AI (SECAI)（嵌入式与复合人工智能学院）；National Center for Tumor Diseases (NCT/UCC) Dresden（德累斯顿肿瘤疾病国家中心）；Centre for Tactile Internet with Human-in-the-Loop (CeTI)（带有人的触觉互联网中心）
FasTac: A Curved Multispectral Vision-Based Tactile Sensor for High-Speed High-Precision 3D Shape and Force Perception
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology（华中科技大学机械科学与工程学院智能制造装备与技术国家重点实验室）；National Innovation Institute of Digital Design and Manufacturing（国家数字化设计与制造创新中心）
Compliant In-hand Rolling Manipulation Using Tactile Sensing
Center for Robotics and Biosystems and the Department of Mechanical Engineering, Northwestern University（机器人与生物系统中心和机械工程系，西北大学）；Northwestern Institute on Complex Systems (NICO)（复杂系统研究所（NICO））
Multifingered force-aware control for humanoid robots
Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Genoa, Italy（人机感知与感知，意大利技术研究院，热那亚，意大利）；DIBRIS, Università di Genova, Via All’Opera Pia, 13, Genoa, Italy（DIBRIS，热那亚大学，Via All’Opera Pia, 13，热那亚，意大利）；MESH Facility, Istituto Italiano di Tecnologia, Genoa, Italy（MESH设施，意大利技术研究院，热那亚，意大利）
