Tactile-Reactive Roller Grasper
Shenli Yuan, Shaoxiong Wang, Radhen Patel, Megha Tippur, Connor Yako,, Edward Adelson, Kenneth Salisbury

TL;DR
This paper introduces the Tactile-Reactive Roller Grasper (TRRG), a robotic hand with tactile sensing and rolling fingertips that enhances in-hand manipulation robustness and enables object reconstruction through tactile-guided control strategies.
Contribution
The paper presents a novel tactile-guided roller grasper with compliant, steerable fingertips, demonstrating improved manipulation robustness and object reconstruction capabilities.
Findings
Tactile feedback improves manipulation robustness.
Rolling fingertips enable fine grip adjustments.
Hybrid designs may enhance dexterity further.
Abstract
Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve in-hand manipulation. These graspers manipulate grasped objects by commanding the rollers to exert forces that propel the object in the desired motion directions. In this paper, we explore the possibility of robot in-hand manipulation through tactile-guided rolling. We do so by developing the Tactile-Reactive Roller Grasper (TRRG), which incorporates camera-based tactile sensing with compliant, steerable cylindrical fingertips, with accompanying sensor information processing and control strategies. We demonstrated that the combination of tactile feedback and the actively rolling surfaces enables a variety of robust in-hand manipulation applications. In…
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Taxonomy
TopicsTactile and Sensory Interactions · Robot Manipulation and Learning · Advanced Sensor and Energy Harvesting Materials
