Contact Force Estimation

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32 papers10 papers in the last four weeks, up 100% on the four weeks before. 0.1% of all new papers.

  1. Locating Contact on Tendon-Driven Continuum Robots From Tendon Measurements Alone via Constrained Moving Horizon Estimation

    Nov 6, 2026Haitham El-HussienyRobot State EstimationContact Force Estimation

    Egypt-Japan University of Science and Technology (E-JUST), New Borg El-Arab, Alexandria, Egypt

  2. Mechanical Interaction Sensing for Robotic Kiwifruit Handling with an Optoelectronic Soft Suction Cup

    Nov 6, 2026Romina Adhami, Ebrahim Shahabi, Alessio Mondini +4Vision-Based Tactile SensingContact Force Estimation

    Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy · Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands · DIBRIS, University of Genoa, Genoa, Italy

  3. LumiTac: Compact, High-Rate Six-Axis Optical Tactile Sensing for Human-Robot Interaction

    Nov 4, 2026Hao Wu, Haotian Guo, Yu Feng +2Vision-Based Tactile SensingTactile Sensing

    Department of Mechanical Engineering, National University of Singapore, Singapore

  4. History-Aware Force Sensing and Tunable Stiffness in a Pneumatic Kresling Origami Cell

    Nov 1, 2026Hengyi Zhou, Jiaqi Wang, Yilin Ma +2Origami RoboticsRobotics

    Authors are with the University of Michigan, Ann Arbor, USA.

  5. TactoHand: Learning Geometry-Based Dense Hand-Surface Interaction Fields from Video

    Oct 29, 2026Ziheng Xi, Weibo Li, Jiayi Yu +6Visual-to-Tactile PredictionHand-Object Interaction Detection

    Tsinghua University · Peking University · BeingBeyond

  6. Tactus: Tactile & Pose Sensing Glove for Natural Dexterity Data Collection

    Oct 29, 2026Li Guan, Rachael Granberry, Sahar Aseeri +101Tactile SensingTactile Sensing for Robotic Manipulation

  7. Proprioceptive Finger Force Estimation for Reliable Box Manipulation

    Oct 28, 2026Junha Cha, Chanwoo Kim, Kisang Park +5Contact Force EstimationForce-Controlled Robotic Manipulation

    Department of Artificial Intelligence, Korea University, Seoul, Republic of Korea. · Department of Statistics, Korea University, Seoul, Republic of Korea. · RLWRLD, Seoul, Republic of Korea.

  8. 3D-Force Estimation for Dual-arm Manipulation of Deformable Linear Objects via Factor Graphs

    Oct 26, 2026Annika Delucchi, Vincenzo Di Paola, Bruno Marco Quadrelli +1Contact Force EstimationDeformable Object Manipulation

    University of Genova, Department of Mechanical, Energy, Management and Transportation Engineering, Via all’opera Pia 15A, Genova, Italy. · Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, United States.

  9. VecTile: A Low-Cost Flexible Tactile Array for 3-DoF Force Sensing

    Oct 22, 2026Jian Hou, Xin Zhou, Adam J. SpiersTactile SensingRobotic Tactile Sensing

    All authors are with the Manipulation and Touch Lab, Dept. Electrical and Electronic Engineering, Imperial College London.

  10. Mixture of Flow Matching and Particle Filter for Proprioception-Based Online Contact Estimation

    Oct 21, 2026Seo Wook Han, Min Jun KimContact Force EstimationParticle Filtering

    Intelligent Robotic Systems Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea

  11. Multimodal Interaction Estimation for Contact-Aware Adaptive Impedance Control

    Oct 16, 2026Mateusz Jaszczuk, Paris Perdikaris, Nadia FigueroaImpedance ControlContact Force Estimation

    Department of Mechanical Engineering, University of Pennsylvania

  12. EgoPhys: Estimating Peak Contact Force and Mechanical Work from Egocentric Manipulation Video

    Oct 8, 2026Zhuo Dong, Jianhua Yang, Haohao Li +4Contact Force EstimationHuman-Object Interaction

    School of Artificial Intelligence, Shandong University, Jinan, China · Institute of Automation, Chinese Academy of Sciences, Beijing, China · School of Mechanical Engineering, Tianjin University, Tianjin, China

  13. Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control

    Oct 7, 2026Antonio Rapuano, Simone Orelli, Barbara Bazzana +2Contact Force EstimationForce-Controlled Robotic Manipulation

    Department of Computer, Control and Management Engineering, Sapienza University of Rome, 00185 Rome, Italy. · Robotics and Mechatronics Department, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands.

  14. PACT: End-to-End Learning of Human Pose, Contacts, and Forces from Video

    Sep 30, 2026Rikhat Akizhanov, Yangsong Zhang, Nikolai Kaliazin +5Contact Force EstimationHuman Pose Estimation

    MBZUAI · ETH Zürich · EPFL

  15. Layered e-skin for Shear Sensing

    Sep 18, 2026Qingzheng Cong, Alexis W. M. Devillard, Abu Bakar Dawood +7Tactile SensingTactile Sensing for Robotic Manipulation

    Queen Mary University of London, E1 4NS, UK · The Imperial College of Science, Technology and Medicine, London SW7 2AZ, UK · King’s College London, SE1 7EU, UK

  16. ZeroTouch: Tactile-Supervised Visual Contact Estimation for Contact-Rich Manipulation

    Sep 18, 2026Dmitriy Kosenkov, Daniia Zinniatullina, Miguel Altamirano Cabrera +3Robotic GraspingContact-Rich Robotic Manipulation

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russian Federation.

  17. TouchSight: Bare-Handed Tactile Prediction from Egocentric Video via Generative Visual Augmentation

    Sep 17, 2026Danyan Zhou, Jinxuan Lu, Jiawei Lin +3Vision-Based Tactile SensingVisual-to-Tactile Prediction

    THU · Xspark AI · HKUST (GZ) +1

  18. Beyond Gestures: Estimating Full Hand Pose and Contact Forces from Wrist-Worn Pressure Sensor Array

    Sep 15, 2026Svetoslav Kolev, Lingni Ma, Michael Goesele +3Tactile Sensing3D Hand Pose Estimation

    Meta Reality Labs Research

  19. EgoTac: In-the-wild Tactile Prediction from Egocentric Vision

    Aug 15, 2026Wenkang Zhang, Chengbo Yuan, Zicheng Zhang +2Visual-to-Tactile PredictionContact Force Estimation

    Shanghai Qi Zhi Institute · Shanghai Jiao Tong University · Tsinghua University +1

  20. EgoPHI: Estimating 3D Hand-Object Contact and Force from Egocentric Vision

    Aug 13, 2026Andela Ilic, Rachel Schuchert, Yijing Jiang +1Hand-Object Contact EstimationHand-Object Interaction Detection

    Department of Computer Science, ETH Zürich, Zürich, Switzerland

  21. Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

    Jul 17, 2026Wenzhe Tong, Jonathan Mi, Xili Yi +2Vision-Based Tactile SensingTensegrity Robotics

    Robotics Department, University of Michigan, Ann Arbor, MI, 48109, USA

  22. Multi-Contact Force Estimation for Continuum Robots via Gaussian-Parameterized Factor Graphs

    Jun 28, 2026Aditya Prakash, Panagiotis TsiotrasContact Force EstimationRobot State Estimation

    School of Aerospace Engineering Georgia Institute of Technology Atlanta, GA, USA

  23. ForceBand: Learning Forceful Manipulation with sEMG

    Jun 24, 2026Botao He, Zhi Wang, Linna Kuang +8Robot Skill LearningContact-Rich Robotic Manipulation

    Amazon FAR · University of Maryland · Johns Hopkins University

  24. FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

    Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Robot Imitation LearningLong-Horizon Robotic Manipulation

    Carnegie Mellon University · Waseda University

  25. Gravity-guided Contact Dynamics Estimation from 3D Human Motions

    Jun 6, 2026Cuong Le, Urs Waldmann, Bastian Wandt +1Contact Force Estimation

    Linköping University

  26. Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction

    May 27, 2026Junha Min, Junghyeon Ma, Jiwung Kwon +3Tactile SensingContact Force Estimation

    Department of Robotics and Mechatronics Engineering, DGIST (Daegu Gyeongbuk Institute of Science and Technology), Daegu 42988, Republic of Korea · Kinetic Intelligent Machine Lab (KIMLAB), University of Illinois Urbana-Champaign, Champaign, Illinois 61801, USA

  27. PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots

    May 17, 2026Jiarong Kang, Kunzhao Ren, Tao Pang +1Robot Dynamics IdentificationRobot Locomotion

    University of Wisconsin-Madison · Shanghai Innovation Institute

  28. SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids

    May 2, 2026Xingzhou Chen, Xiayan Xu, Yan Ning +8Robotic PerceptionHumanoid Robotics

    The Hong Kong University of Science and Technology, Hong Kong SAR, China · Zhejiang University, Hangzhou, China · Tencent Robotics X, Shenzhen, China

  29. Multifingered force-aware control for humanoid robots

    Mar 9, 2026Pasquale Marra, Gabriele M. Caddeo, Ugo Pattacini +1Humanoid Robot ControlForce-Controlled Robotic Manipulation

    Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Genoa, Italy. · DIBRIS, Universit`a di Genova, Via All’Opera Pia, 13, Genoa, Italy. · MESH Facility, Istituto Italiano di Tecnologia, Genoa, Italy

  30. Cable-driven Continuum Robotics: Proprioception via Proximal-integrated Force Sensing

    Mar 8, 2026Gang Zhang, Junyan Yan, Jibiao Chen +1Contact Force EstimationContinuum Robot Shape Estimation

    Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · Curve Robotics Limited, Hong Kong · Shun Hing Institute of Advanced Engineering and Multi-Scale Medical Robotics Center, Hong Kong