FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation

Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexity or slow response times. We address these issues through FORTE, an easy-to-fabricate tactile sensing system comprised of 3D-printed fin-ray grippers with internal air channels. FORTE provides low-latency force and slip feedback, enabling us to apply just enough force to grasp objects without damaging them. We accurately estimate grasping forces from 0–8 N$\pm$0.2 N, and detect slip events within 100 ms of occurring. FORTE can grasp a wide range of slippery, fragile, and deformable objects, including raspberries and potato chips with 92% success and achieves 93% accuracy in detecting slip events. These results highlight FORTE's potential as a robust solution for delicate manipulation.https://merge-lab.github.io/FORTE/