# Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks

arXiv: https://arxiv.org/abs/2303.09346 · HTML: https://mlsanity.com/paper/2303.09346/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Mar 2023.

## Built on by (most cited first, 2 of 2)

- [Learning Gentle Grasping Using Vision, Sound, and Touch](https://mlsanity.com/paper/2503.07926/) (2025)
- [Learning tactile perception from high-bandwidth single-point sensing](https://mlsanity.com/paper/2609.24621/) (2026)

## Abstract (arXiv)

This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing.