top of page


Local Time in Detroit-USA (GMT -4)
October 1, 2023​


08:30-09:00 Welcome opening 


09:00-09:25 (20 min + 5 min Q&A)

Title: Embedding optics-based force and stiffness sensors

Abstract: With an ever-growing interest in creating intelligent manipulation devices capable of expertly interacting with their environments, comes the necessity to create new sensing technologies that can accurately estimate relevant interaction parameters. Researchers face the challenge of creating sensor devices that satisfy the requirements for integration with the increasingly sophisticated robot hands and grippers being developed and, at the same time, allow a truthful tactile perception of the objects being handled. Our research focusses on creating miniature sensors that are suitable to be embedded with the fingers and palms of robot hands to measure interaction forces, tactile information as well as the stiffness of handled objects.

09:25-09:50 (20 min + 5 min Q&A)

Title: Tactile dexterity - Control of object pose and contact with tactile feedback


09:50-10:15 (20 min + 5 min Q&A)

Title: What we’ve been up to with tactile sensing lately: from hardware to applications

Abstract: This talk reports on the last six months of work in the area of tactile sensing for manipulation from our lab. From a sensor design perspective, we’ve been evaluating vibration transducers (microphones), piezoelectric materials, and off-the-shelf capacitive transducers, looking to decide which of these to include in our next generation tactile fingers. From a low-level signal processing perspective, we’ve been experimenting with Transformer learning architectures that infer contact properties from a short history of raw readings, as opposed to using only individual snapshots. Finally, from a high level application perspective, we recently demonstrated dexterous in-hand manipulation and, in a separate project, object recognition, all based on tactile sensing; we’re currently working on tactile-based object retrieval from granular media. We will discuss all these aspects, as well as the interplay between them.


10:15 -10:30 Break

Student Pitch - I

     10:30 - 10:35

  • Active Acoustic Sensing – Augmenting and Complementing Visuo-Tactile Sensing for Robot Manipulation - S. Lu and H. Culbertson

     10:35 - 10:40

  • GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation - J. Zhao and E. Adelson

     10:40 - 10:45

  • Robotic Assembly Using a Tactile Sensor and a Soft Wrist - J. R-Miquel, M. Hamaya, C. C. B. Hernandez, K. Tanaka. 

     10:45 - 10:50

  • VisTac: Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation - S. Athar, G. Patel, Z. Xu, Q. Qiu, Y. She

     10:50 - 10:55

  • Estimation of Extrinsic Contact Patch for Stable Placement - K. Ota, D. K. Jha, K. M. Jatavallabhula, A. Kanezaki, J. B. Tenenbaum

     10:55 - 11:00

  • General In-Hand Object Rotation with Vision and Touch - H. Qi, B. Yi, S. Suresh, M. Lambeta, Y. Ma, R. Calandra, J. Malik

     11:00 - 11:05

  •  Seamless Integration of Tactile Sensors for Cobots - R. Proesmans and F. Wyffels

     11:05 - 11:10

  • Avocado Firmness Assessment Using Vision-Based Tactile Sensing: A Non-Destructive Approach - M. M. Mohsan, B. B. Hasanen, T. Hassan, M. U. Din, N. Werghi, L. Seneviratne and I. Hussain