mlsanityData to 14 Oct 2026

Robotic Tactile Perception of Object Properties: A Review

arXiv 1711.03810 ↗First posted 10 Nov 2017cs.RO cs.CVcited by 25

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Abstract (arXiv)

Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively reported in the literature. Research into interpreting the conveyed tactile information has also started to attract increasing attention in recent years. However, a comprehensive study on this topic is yet to be reported. In an effort to collect and summarize the major scientific achievements in the area, this survey extensively reviews current trends in robot tactile perception of object properties. Available tactile sensing technologies are briefly presented before an extensive review on tactile recognition of object properties. The object properties that are targeted by this review are shape, surface material and object pose. The role of touch sensing in combination with other sensing sources is also discussed. In this review, open issues are identified and future directions for applying tactile sensing in different tasks are suggested.

Key facts. Cited by 25 papers in the map (data through 14 Oct 2026). First posted on arXiv 10 Nov 2017.

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Citing papers per year: 2021: 6; 2022: 4; 2023: 6; 2024: 4; 2025: 3; 2026: 2.

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  1. 2021Active 3D Shape Reconstruction from Vision and Touchcited by 34
  2. 2022Tac2Pose: Tactile Object Pose Estimation from the First Touchcited by 15
  3. 2022Visuo-Haptic Object Perception for Robots: An Overviewcited by 12
  4. 2022Active Visuo-Haptic Object Shape Completioncited by 11
  5. 2024FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensorscited by 11
  6. 2022Visual-Tactile Multimodality for Following Deformable Linear Objects Using Reinforcement Learningcited by 9
  7. 2025Demonstrating the Octopi-1.5 Visual-Tactile-Language Modelcited by 9
  8. 2025ConViTac: Aligning Visual-Tactile Fusion with Contrastive Representationscited by 8
  9. 2024Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assemblycited by 7
  10. 2021Multi-Object Grasping -- Estimating the Number of Objects in a Robotic Graspcited by 5
  11. 2021Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objectscited by 4
  12. 2023Learning to Detect Slip through Tactile Estimation of the Contact Force Field and its Entropycited by 4
13 more
  1. 2024LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Graspingcited by 4
  2. 2021Vision-Guided Active Tactile Perception for Crack Detection and Reconstructioncited by 3
  3. 2023CNN-based Methods for Object Recognition with High-Resolution Tactile Sensorscited by 3
  4. 2023Bayesian and Neural Inference on LSTM-based Object Recognition from Tactile and Kinesthetic Informationcited by 3
  5. 2025ViTacGen: Robotic Pushing with Vision-to-Touch Generationcited by 3
  6. 2021Multimodal perception for dexterous manipulationcited by 2
  7. 2023Robotic Handling of Compliant Food Objects by Robust Learning from Demonstrationcited by 2
  8. 2024Bayesian optimization for robust robotic grasping using a sensorized compliant handcited by 2
  9. 2021MobileCharger: an Autonomous Mobile Robot with Inverted Delta Actuator for Robust and Safe Robot Chargingcited by 1
  10. 2023Intelligent machines work in unstructured environments by differential neuromorphic computingcited by 1
  11. 2023Open-Set Object Recognition Using Mechanical Properties During Interactioncited by 0
  12. 2026Capability Thresholds and Manufacturing Topology: How Embodied Intelligence Triggers Phase Transitions in Economic Geographycited by 0
  13. 2026VTLoc: Learning-based Tactile Contact Localization in Visual Point Cloudscited by 0