Oct 2026· Proceedings of the 32nd Annual International Conference on Mobile Computing and Networking· pp. 1753-1755· 0 citations· 9 references
Abstract
Robots increasingly require dexterous manipulation capabilities in unstructured, real-world environments. However, existing visuo-tactile sensors, despite providing rich camera-based spatial measurements, often rely on rigid optical structures that limit force sensitivity, dynamic range, and active compliance regulation. This demo presents MoiréSkin, an inflatable visuo-tactile skin that uses flexible Moiré optics to unify ultra-sensitive tactile sensing, pneumatic self-sensing, and active compliance control. Its Moiré-encoded membrane distinguishes field-wide fringe rotations caused by inflation and deflation from localized fringe distortions induced by external contact. Attendees will also use a handheld Universal Manipulation Interface (UMI) gripper to grasp different objects while observing MoiréSkin's real-time tactile and actuation responses at the gripper-object interface.
Robots increasingly must perform dexterous object manipulation in real-world environments, yet existing VTS offer rich camera-based spatial readout while rigid optics limit force sensitivity, force range, and active compliance regulation. We present MoiréSkin, an inflatable visuo-tactile skin using flexible Moiré optic...
Lin-Zhen Zhu, Liu-Xi Xing, Run-Qiu Wang et al.· Proceedings of the 32nd Annu...· 1 citation
In-hand manipulation of ultra-soft objects is challenging due to their high deformability. Conventional vision-based tactile sensors (VBTSs) with reflective coatings often fail to detect contact signals from ultra-soft items like sponges, since the sensing material is stiffer than the object itself, resulting in insuff...
Zhi-Tong Liu, Xin Jiang· IEEE Robotics and Automation...· 0 citations
A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data remains scarce: dexterous demonstrations require teleoperating robots, which limits dataset scale. Human demonstrations are far cheaper to co...
Jing-Yun Yang, Bai-Yu Shi, Timothy Yu et al.· 0 citations
GlowTact, a pressure-responsive vision-based tactile sensing mechanism that directly visualizes contact pressure, is introduced, combining a durable nitrile membrane and simple optical design with sensitive and information-rich tactile perception.
Yu-Xiang Ma, Megha Tippur, Peng-Fei Ye et al.· 0 citations
Tactile perception systems based on flexible pressure sensors are indispensable for humanoid robots to perform dexterous manipulation, compliant interaction, and operation in visually challenging environments. Although strategies relying on surface or spatial microstructure engineering have improved sensor performance,...
Ming-Yuan Sun, Gang Ma, Shuai Dong et al.· Science Advances· 0 citations
Tactile sensing provides robots with contact information difficult to obtain from vision alone. Shear force is particularly important for understanding tangential contact, guiding corrective motions, and maintaining grasp stability, yet flexible and low-cost tactile arrays often measure only normal force. We introduce...
Jian Hou, Xin Zhou, Adam J. Spiers· 0 citations
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