Guest Editorial Special Issue on Robotic Sense of Touch

  title={Guest Editorial Special Issue on Robotic Sense of Touch},
  author={Ravinder S. Dahiya and Giorgio Metta and Giorgio Cannata and Maurizio Valle},
  journal={IEEE Trans. Robotics},
ROBOTICS has continuously witnessed paradigm shifts ever since robots appeared as “industrial tools.” Over the years, the application domain of robotics has increased manifold, and the wide variety of new generation of robots nowadays include humanoids, rehabilitation and assistive robots, social robots, bio-robots, medical robots, and so on. As humanoids, they simulate the human structure and behavior; as exoskeletons or artificial limbs, they assist humans; as social robots, they enable human… 
Trends and challenges in robot manipulation
The progress made in robotics to emulate humans’ ability to grab, hold, and manipulate objects is reviewed, with a focus on designing humanlike hands capable of using tools.
Science Journals — AAAS
Researchers aimed to increase the robustness of object manipulation at all levels by focusing on robust perception for coping with object occlusion and noisy measurements, as well as on adaptive control approaches to infer an object’s physical properties, so as to handle objects whose properties are unknown or change as a result of manipulation.
Directions Toward Effective Utilization of Tactile Skin: A Review
The state of the art and the research issues in tactile sensing, with the emphasis on effective utilization of tactile sensors in robotic systems are surveyed, recognizing the fact that the system performance tends to depend on how its various components are put together.
Sensitive Manipulation: Manipulation Through Tactile Feedback
This work proposes an approach that consists in guiding a robot’s actions mainly by tactile feedback, with remote sensing such as vision used only as a complement, to directly sensing the interaction forces between the object, the environment, and the robot's hand.
Computational Intelligence Techniques for Tactile Sensing Systems
The research applies novel computational intelligence techniques and a tensor-based approach for the classification of touch modalities and results consist in providing a procedure to enhance system generalization ability and architecture for multi-class recognition applications.
Design of a flexible tactile sensor for classification of rigid and deformable objects
The utility of tactile force to autonomous learning of in-hand manipulation is task-dependent
Evaluating the role of tactile information on autonomous learning of manipulation with a simulated 3-finger tendon-driven hand concludes that, in general, sensory input is useful to learning only when it is relevant to the task---as is the case of 3D force-sensing for in-hand manipulation against gravity.
Recent progress on tactile object recognition
This article divides the current studies on the tactile object recognition into three subcategories and detailed analysis has been put forward on them, and discusses some advanced topics such as visual–tactile fusion, exploratory procedure, and data sets.
Surface Following With An Rgb-D Vision-Guided Robotic System For Automated And Rapid Vehicle Inspection
The proposed multi-stage system developed merges all components to achieve rapid 3D profiling over a complex surface in order to fully automate the process of surface following for vehicles of various types and shapes.


Super-Flexible Skin Sensors Embedded on the Whole Body, Self-Organizing Based on Haptic Interactions
Attempts to solve some of the difficult new technical and information processing challenges presented by flexible touch sensitive skin are discussed, based on a method for sensors to self-organize into sensor banks for classification of touch interactions.
Tactile Sensing—From Humans to Humanoids
Tactile sensing, focused to fingertips and hands until past decade or so, has now been extended to whole body, even though many issues remain open, and various system issues that keep tactile sensing away from widespread utility are discussed.
Self-Organization, Embodiment, and Biologically Inspired Robotics
Robotics researchers increasingly agree that ideas from biology and self-organization can strongly benefit the design of autonomous robots. Biological organisms have evolved to perform and survive in
A High-Resolution Imaging Touch Sensor
A dexterous robot manipulator must be able to feel what it is doing. The mechanical hand of the future will be able to roll a screw between its fingers and sense, by touch, which end is which. This
Development of the Tactile Sensor System of a Human-Interactive Robot “RI-MAN”
The successful development of the tactile sensor system of the human-interactive robot named RI-MAN, which can lift up a dummy human, is reported.
Tactile sensing and control of robotic manipulation
  • R. Howe
  • Engineering
    Adv. Robotics
  • 1993
The current state of the art and predicts the outlook in robotic tactile sensing for real-time control of dextrous manipulation are reviewed and future directions for research in sensing and control are considered.
Active touch sensing
This theme issue looks at active touch across a broad range of species from insects, terrestrial and marine mammals, through to humans, and considers how engineering is beginning to exploit physical analogues of these biological systems so as to endow robots with rich tactile sensing capabilities.
Tactile sensing: Steps to artificial somatosensory maps
A layered system is proposed, which is inspired from tactile sensing in humans for building artificial somatosensory maps in robots, and validated in simulation to validate the approach.
A modularized sensitive skin for motion planning in uncertain environments
The system developed at the UW-Madison Robotics Lab and discussed here presents a system that can be easily reconfigured for a variety of applications that is accomplished via modularized sensitive skin patches that are connected in various ways, and a hierarchical control architecture that is easily modified for various system configurations.