SoTa: Soft Tactile Skins for Dexterous Manipulation
SoTa: Soft Tactile Skins for Dexterous Manipulation
This research presents SoTa, a low-cost capacitive tactile skin that provides full-hand coverage for both humans and robots. The sensor features a shared layout of 202 taxels across finger and palm regions, enabling human-robot co-training with a common tactile encoder. Tactile observations improve success rates in dexterous manipulation tasks, with human demonstrations more than doubling mean success across eight evaluation conditions.
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Source：arXiv Robotics — research abstracts · arxiv.org