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The limitations of rigid fingertips in the precise and algorithmic study of manipulation have been discussed in many works, some dating back more than a decade. Despite that fact, much of the work in dexterous manipulation has continued to use the "point-contact" model for finger-object interactions. In fact, most of the exsisting tactile sensing technologies are not adaptable to deformable fingertips. In this work we report on experimental results obtained with a deformable tactile sensor whose properties are well-suited to manipulation. The results presented here show that the sensor described provides a rich set of tactile data.

This work is directed towards exploring interactions of communication and control in systems with communication constraints. Examples of such systems include groups of autonomous vehicles, MEMS arrays and systems whose sensors and actuators are distributed across a network. We extend some recent results involving stabilization of LTI systems under limited communication and address a class of feed-forward control problems for the systems of interest.