Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing

• URL: http://arxiv.org/abs/2602.21028v1
• Date: Tue, 24 Feb 2026 15:51:10 GMT
• Title: Surface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
• Abstract summary: This work introduces the COmpliant Porous-Elastic Soft Sensing (COPESS) integrated with inductive sensors for adaptive object manipulation and localised sensing.<n>The design features a tunable lattice layer that simultaneously modulates mechanical compliance and sensing performance.
• Score: 3.109563406209924
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate handling. This work introduces the COmpliant Porous-Elastic Soft Sensing (COPESS) integrated with inductive sensors for adaptive object manipulation and localised sensing. The design features a tunable lattice layer that simultaneously modulates mechanical compliance and sensing performance. By adjusting lattice geometry, both stiffness and sensor response can be tailored to handle objects with varying mechanical properties. Experiments demonstrate that by easily adjusting one parameter, the lattice density, from 7 % to 20 %, it is possible to significantly alter the sensitivity and operational force range (about -23x and 9x, respectively). This approach establishes a blueprint for creating adaptive, sensorized surfaces where mechanical and sensory properties are co-optimized, enabling passive, yet programmable, delicate manipulation.

Related papers

• Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands [99.00248904465089]
  Dexterous hands differ in finger structure, contact surfaces, and sensor layouts.<n>We present Bench2Dex, a simulation benchmark for visuo-tactile bimanual manipulation across 12 dexterous hands.
  arXiv  Detail & Related papers  (2026-09-14T15:22:59Z)
• Robust Slip Detection and Material Classification via Spatiotemporal Transformers on a Uniformly-Illuminated Visuo-Tactile Sensor [52.33204893988409]
  We propose a visuo-tactile sensor featuring customized uniform illumination, alongside a unified perception framework.<n>The proposed hardware-software framework provides high-fidelity feedback and a powerful multi-modal perception baseline for complex robotic manipulation.
  arXiv  Detail & Related papers  (2026-08-25T07:25:27Z)
• AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion [60.79507611737292]
  Humans achieve stable and adaptive grasps by seamlessly integrating visual perception and tactile feedback.<n>Existing robotic grasping approaches rely on visual inputs and lack mechanisms for tactile-guided adaptation after contact.<n>We propose a unified visuo-tactile-fusion grasping framework that integrates grasp generation, feasibility prediction, and adaptive refinement.
  arXiv  Detail & Related papers  (2026-08-06T16:29:11Z)
• Toward Geometry-Scalable Whole-Body Touch for Humanoids: A 3D-Printed Conformal EIT Skin [66.36050076244905]
  Whole-body tactile sensing is a prerequisite for humanoids that operate in contact-rich human environments.<n>We present a conformal electrical tactile tomography skin fabricated through a geometry-adaptable additive-manufacturing workflow.
  arXiv  Detail & Related papers  (2026-08-03T11:33:30Z)
• Magnet-Based Soft Robotic Skin Using a 3D-Printed Multi-Lattice Structure and CNN-Based Tactile Super-Resolution [3.263412894884991]
  This paper presents a magnet-based robotic skin that integrates a multilayer soft lattice with distributed Hall-effect sensor arrays and a tactile super-resolution model.<n>Experiments validate localization accuracy and indicate scalability to larger surfaces, suggesting applicability to whole-body robotic skin and safe human-robot interaction.
  arXiv  Detail & Related papers  (2026-05-27T11:53:46Z)
• Printed helicoids with embedded air channels make sensorized segments for soft continuum robots [40.89188977843952]
  We introduce a fabrication method for embedding air channels into helicoid-based soft continuum robots.<n>We characterize the mechanical properties of four helicoid designs and validate the sensor response to fundamental deformation modes.<n>This approach establishes a scalable fabrication strategy for sensorized architected materials in large-scale soft robotic systems.
  arXiv  Detail & Related papers  (2026-02-26T19:21:29Z)
• A thin and soft optical tactile sensor for highly sensitive object perception [0.28528456544424774]
  We present a thin, compact, and soft optical tactile sensor featuring an alignment-free configuration.<n>The sensor operates by capturing deformation-induced changes in speckle patterns generated within a soft silicone material.<n>The experimental results show a root-mean-square error of 40 mN in the force measurement and a classification accuracy of 93.33% over nine classes of textured surfaces.
  arXiv  Detail & Related papers  (2026-02-03T08:28:14Z)
• UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors [51.88112610411651]
  We propose a novel unified tactile representation learning framework that learns a shared latent force space across diverse tactile sensors.<n>UniForce reduces cross-sensor domain shift by jointly modeling inverse dynamics (image-to-force) and forward dynamics (force-to-image)<n>To avoid reliance on expensive external force/torque (F/T) sensors, we exploit static equilibrium and collect force-paired data via direct sensor--object--sensor interactions.
  arXiv  Detail & Related papers  (2026-02-01T11:03:01Z)
• Fluidically Innervated Lattices Make Versatile and Durable Tactile Sensors [43.33741954317892]
  We introduce a passive soft robotic fingertip with integrated tactile sensing, fabricated using a 3D-printed elastomer lattice with embedded air channels.<n>This sensorization approach, termed fluidic innervation, transforms the lattice into a tactile sensor by detecting pressure changes within sealed air channels.
  arXiv  Detail & Related papers  (2025-07-28T18:00:04Z)
• Tactile-Filter: Interactive Tactile Perception for Part Mating [54.46221808805662]
  Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. vision-based tactile sensors are being widely used for various robotic perception and control tasks. We present a method for interactive perception using vision-based tactile sensors for a part mating task.
  arXiv  Detail & Related papers  (2023-03-10T16:27:37Z)
• Elastic Tactile Simulation Towards Tactile-Visual Perception [58.44106915440858]
  We propose Elastic Interaction of Particles (EIP) for tactile simulation. EIP models the tactile sensor as a group of coordinated particles, and the elastic property is applied to regulate the deformation of particles during contact. We further propose a tactile-visual perception network that enables information fusion between tactile data and visual images.
  arXiv  Detail & Related papers  (2021-08-11T03:49:59Z)
• OmniTact: A Multi-Directional High Resolution Touch Sensor [109.28703530853542]
  Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. We introduce OmniTact, a multi-directional high-resolution tactile sensor. We evaluate the capabilities of OmniTact on a challenging robotic control task.
  arXiv  Detail & Related papers  (2020-03-16T01:31:29Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.