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About this paper
Zeyu Liu, Xinpan Meng, Zhenghua Ma, Haoyu Zhang, Houcheng Li, Zhaoxiang Zhang, Qiang Yu, Xinyu Wu and 1 more
The authors survey a framework that treats contact state as the interface between tactile sensing and robot action. They distinguish geometric, mechanical, and dynamic state from task-conditioned diagnostics, then connect state estimation to action-conditioned prediction and feedback correction across control layers. The review organizes existing approaches, while cross-sensor and long-duration evidence remains limited.
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