Demos – Tactile robot dexterity

2024: AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch, CoRL
2024: Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism, IJRR
2024: Shear-based grasp control for multi-fingered underactuated hands, IEEE T-Ro
2024: Pose and shear-based tactile servoing IJRR
2021: Pose-based tactile servoing IEEE RAM

Tactile control (2024) – in-hand object rotation (ball)
Tactile control (2024) – in-hand object rotations (many objects)
Small tactile softhand (forthcoming 2025)
Extrinsic dexterity (forthcoming 2025)
Tactile manipulation (2024) – in-hand grasp adjustment (pouring)
Tactile manipulation (2024) – in-hand object tracking
Tactile servoing (2024) – pose tracking (ball)
Tactile servoing (2024) – pose tracking (held object)
Tactile servoing (2024) – surface following
Tactile servoing (2024) – dual-arm planar manipulation (bottle)
Visuo-tactile manipulation (2024) – insert USB stick
Visuo-tactile manipulation (2024) – insert plug adaptor
Visuo-tactile manipulation (2024) – unscrew top (ketchup)
Visuo-tactile manipulation (2024) – unscrew top (bottle)
Tactile servoing (2021) – surface following (head)
Tactile servoing (2021) – edges and surface (many objects)