My research goal is to build an intelligent robotic tactile perception system that helps the robot to better understand and interact with the physical world. For understanding the physical world, the robots need to understand the properties of the objects around it, and lots of the very important properties, such as hardness, roughness, and slipperiness, can only be learned through physical contact. I work on designing frameworks for robots to touch the target objects in specific ways, and interpretingthe tactile signal from the contact. At the same time, I have been looking for ways for robots to interact with the world with the help of tactile sensing. The tactile signals contain rich information about the robot’s interaction with the environment, and that information could guide robots to accomplish different manipulation tasks more dexterously. My research focuses on how to extract that information, and how to add those useful feedbacks into the robot manipulation framework.