{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:14:47Z","timestamp":1740140087602,"version":"3.37.3"},"reference-count":23,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2018,2]]},"abstract":"<jats:p> Object grasping and manipulation in robotics has been largely approached using visual feedback. Human studies on the other hand have demonstrated the importance of tactile and force feedback to guide the interaction between the fingers and the objects. Inspired by these observations, we propose an approach that consists in guiding a robot\u2019s actions mainly by tactile feedback, with remote sensing such as vision, used only as a complement. Directly sensing the interaction forces between the object, the environment, and the robot\u2019s hand enables it to obtain information relevant to the task that can be used to perform it more reliably. This approach (that we call sensitive manipulation) requires important changes in the hardware and in the way the robot is programmed. At the hardware level, we exploit compliant actuators and novel sensors that allow to safely interact and detect the environment. We developed strategies to perform manipulation tasks that take advantage of these new sensing and actuation capabilities. In this paper, we demonstrate that using these strategies the humanoid robot Obrero can safely find, reach and grab unknown objects that are neither held in place by a fixture nor placed in a specific orientation. The robot can also make insertions by \u201cfeeling\u201d the hole without specialized mechanisms such as a remote center of compliance (RCC). <\/jats:p>","DOI":"10.1142\/s0219843618500123","type":"journal-article","created":{"date-parts":[[2018,2,27]],"date-time":"2018-02-27T05:46:42Z","timestamp":1519710402000},"page":"1850012","source":"Crossref","is-referenced-by-count":15,"title":["Sensitive Manipulation: Manipulation Through Tactile Feedback"],"prefix":"10.1142","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3579-6160","authenticated-orcid":false,"given":"Eduardo","family":"Torres-Jara","sequence":"first","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 32 Vassar St., Cambridge, Massachusetts 02139, USA"}]},{"given":"Lorenzo","family":"Natale","sequence":"additional","affiliation":[{"name":"iCub Facility, Istituto Italiano di Tecnologia, Via Morego 30, Genova 16163, Italy"}]}],"member":"219","published-online":{"date-parts":[[2018,3]]},"reference":[{"key":"S0219843618500123BIB001","doi-asserted-by":"publisher","DOI":"10.1007\/BF00237997"},{"key":"S0219843618500123BIB002","doi-asserted-by":"publisher","DOI":"10.1016\/0010-0285(87)90008-9"},{"key":"S0219843618500123BIB003","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"S0219843618500123BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2033627"},{"key":"S0219843618500123BIB008","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_20"},{"key":"S0219843618500123BIB013","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9144-9"},{"key":"S0219843618500123BIB014","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1003250107"},{"key":"S0219843618500123BIB016","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300101"},{"key":"S0219843618500123BIB017","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2042754"},{"key":"S0219843618500123BIB018","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2162271"},{"key":"S0219843618500123BIB020","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2155830"},{"key":"S0219843618500123BIB025","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aag3296"},{"key":"S0219843618500123BIB026","series-title":"Studies in Computational Intelligence","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1007\/978-3-319-04735-5_24","volume-title":"Service Orientation in Holonic and Multi-Agent Manufacturing and Robotics","volume":"544","author":"Cafolla D."},{"key":"S0219843618500123BIB033","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2013.2296208"},{"key":"S0219843618500123BIB035","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5"},{"key":"S0219843618500123BIB036","doi-asserted-by":"publisher","DOI":"10.1109\/6.275177"},{"key":"S0219843618500123BIB037","doi-asserted-by":"publisher","DOI":"10.1126\/science.1126216"},{"key":"S0219843618500123BIB038","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2005.09.023"},{"key":"S0219843618500123BIB040","doi-asserted-by":"publisher","DOI":"10.1126\/science.1166467"},{"key":"S0219843618500123BIB043","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2013.2258149"},{"key":"S0219843618500123BIB048","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050329"},{"key":"S0219843618500123BIB051","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/42.1.174"},{"volume-title":"Principles of Neural Science","year":"2000","author":"Gardner E. P.","key":"S0219843618500123BIB052"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843618500123","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T22:04:46Z","timestamp":1565129086000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843618500123"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,2]]},"references-count":23,"journal-issue":{"issue":"01","published-online":{"date-parts":[[2018,3]]},"published-print":{"date-parts":[[2018,2]]}},"alternative-id":["10.1142\/S0219843618500123"],"URL":"https:\/\/doi.org\/10.1142\/s0219843618500123","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"type":"print","value":"0219-8436"},{"type":"electronic","value":"1793-6942"}],"subject":[],"published":{"date-parts":[[2018,2]]}}}