This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can grasp and count multiple layers simultaneously, emulating human handling in various environments. Specifically, we develop a novel vision-based tactile sensor named RoTip that can rotate and sense contact information around its tip. Equipped with two RoTip sensors, RoTipBot feeds multiple layers of thin, flexible objects into the centre between its fingers, enabling effective grasping and counting. RoTip's tactile sensing ensures both fingers maintain good contact with the object, and an adjustment approach is designed to allow the gripper to adapt to changes in the object. Extensive experiments demonstrate the efficacy of the RoTip sensor and the RoTipBot approach. The results show that RoTipBot not only achieves a higher success rate but also grasps and counts multiple layers simultaneously -- capabilities not possible with previous methods. Furthermore, RoTipBot operates up to three times faster than state-of-the-art methods. The success of RoTipBot paves the way for future research in object manipulation using mobilised tactile sensors. All the materials used in this paper are available at \url{https://sites.google.com/view/rotipbot}.

翻译：本文介绍了一种用于处理薄柔物体的新型机器人系统RoTipBot。与以往局限于使用吸盘或软夹爪进行单层分离的方法不同，RoTipBot能够同时抓取并计数多层物体，模拟人类在不同环境下的操作方式。具体而言，我们开发了一种名为RoTip的新型视觉触觉传感器，其末端可旋转并感知周向接触信息。配备两个RoTip传感器的RoTipBot能将多层薄柔物体导入指间中心区域，实现高效抓取与计数。RoTip的触觉感知确保双指与物体保持良好接触，并通过自适应调整机制使夹爪适应物体形变。大量实验验证了RoTip传感器及RoTipBot方法的有效性。结果表明，RoTipBot不仅实现了更高的成功率，更能同时抓取与计数多层物体——这是现有方法无法实现的功能。此外，RoTipBot的操作速度达到现有最优方法的三倍。RoTipBot的成功为未来基于可移动触觉传感器的物体操控研究开辟了新路径。本文所有相关材料已公开于\url{https://sites.google.com/view/rotipbot}。