# CASIA adds fingertip touch to robot insertion, lifting 0.05 mm success from 52% to 67%

> Original title: CASIA Adds Fingertip Touch to Robot Insertion, Lifting 0.05 mm Clearance Success From 52% to 67%

- Source: Pandaily
- Published: 2026-11-02T02:12:38.000Z
- Bad Influence: https://badinfluence.news/items/qqr87tj0nnxnnnfjru4fh54k6
- Original: https://pandaily.com/casia-tactile-augmented-precision-insertion-iros-2026-imitation-reinforcement-learning-0-05mm

## Summary

Researchers at the Chinese Academy of Sciences' Institute of Automation add a fingertip tactile sensor to a robot arm's insertion policy, raising success at 0.05 mm clearance from 52% to 67%. The tactile signal feeds only the training critic, while the deployed policy relies mainly on vision, and peak interaction force falls 60% and peak torque falls 44%. The work, accepted at IROS 2026, uses a Franka Emika Panda arm with a PaXini PX-6AX GEN3 sensor.