Assistive robotic grasping plays an important role in enabling safe and adaptive manipulation of diverse objects. However, existing systems often rely on electronic sensing and multi-stage processing pipelines, increasing system complexity and reducing accessibility. To address these limitations, we present TouchDrive, a cost-effective, electronics-free tactile sensing interface for assistive grasping. TouchDrive directly converts contact forces into pneumatic feedback through valve-mediated switching, integrating sensing, signal generation, and feedback within a single passive mechanical loop. The system can be employed using a pneumatic normally closed valve, a compressed air tank, sensing element, and haptic feedback actuator without electronics. By delivering tactile cues, TouchDrive empowers users to modulate grasp forces, enabling precise and robust delicate manipulation of compliant and fragile objects. The interface has been validated across diverse robotic platforms, consistently demonstrating reliable performance and practical applicability in assistive grasping tasks, such as handling fruits and everyday items (up to 20 objects).

翻译：辅助机器人抓取在实现安全且自适应的多样化物体操控中发挥着重要作用。然而，现有系统通常依赖电子感知和多级处理流水线，增加了系统复杂性并降低了可及性。为解决这些局限，我们提出TouchDrive——一种低成本、无电子的触觉感知接口，专用于辅助抓取。TouchDrive通过阀门介导的切换，将接触力直接转化为气动反馈，将感知、信号生成与反馈集成于单一被动机械回路中。该系统可利用气动常闭阀、压缩空气罐、感知元件和触觉反馈执行器实现，无需电子元件。通过传递触觉线索，TouchDrive使用户能够调节抓取力，从而实现对柔顺及易碎物体的精准、稳健的精细操作。该接口已在多种机器人平台上得到验证，并在辅助抓取任务（如处理水果及日常物品，多达20种物体）中持续展现出可靠的性能与实际适用性。