Soft Robots & Tactile Sensing

Soft robotics and tactile sensing for manipulation: soft actuators, compliant mechanisms, tactile sensor technologies, and tactile-based manipulation.

Learning Objectives

1. Why Soft Robotics?

1.1 Rigid vs. Soft Manipulation

1.2 Compliance in Nature

2. Soft Actuators

2.1 Pneumatic Actuators

2.2 Cable-Driven Actuators

2.3 Shape Memory Alloys

3. Compliant Mechanisms

3.1 Underactuated Grippers

3.2 Fin Ray Effect

4. Tactile Sensor Technologies

4.1 Vision-Based Tactile (GelSight/DIGIT)

4.2 Capacitive Sensors

4.3 Piezoresistive Sensors

5. Tactile-Based Manipulation

5.1 Slip Detection

5.2 Texture Recognition

5.3 Force Estimation from Tactile

6. Simulation of Soft Bodies & Tactile

7. ROS 2 Tactile Integration

Exercises

References