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. FORTE uses 3D-printed fin-ray grippers with internal air channels to provide low-latency force and slip feedback. This feedback allows us to apply just enough force to grasp objects without damaging them. We accurately estimate grasping forces from 0-8 N with an average error of 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 robotic manipulation. Project page: https://merge-lab.github.io/FORTE/

翻译：处理易碎物体仍然是机器人操作面临的主要挑战。触觉传感与软体机器人技术能够改善精细物体操作，但通常涉及较高的集成复杂度或较慢的响应时间。我们通过FORTE系统解决了这些问题，这是一种易于制造的触觉传感系统。FORTE采用具有内部气道的3D打印鳍射线夹持器，提供低延迟的力与滑移反馈。该反馈使我们能够施加恰好足够的力来抓取物体而不造成损坏。我们以0.2 N的平均误差精确估算了0-8 N范围内的抓取力，并在滑移事件发生100毫秒内实现检测。FORTE能够抓取各类光滑、易碎及可变形物体，包括树莓和薯片，成功率达92%，并在滑移事件检测中达到93%的准确率。这些结果凸显了FORTE作为精细机器人操作鲁棒解决方案的潜力。项目页面：https://merge-lab.github.io/FORTE/