DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction

Do, Won Kyung; Kennedy, Monroe

doi:10.1109/icra46639.2022.9811966

Cited by 32 publications

(9 citation statements)

References 71 publications

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“…Usually, the deforming surface (soft sensing surface) has markers or pins arranged on its inner surface, whose displacements are recorded by the camera [32,[56][57][58][59][60][61]. Apart from using pins or markers, the imprints of the external object on the sensing skin are captured by the camera in certain sensors [62][63][64][65][66][67][68]. Compared to other transduction methods discussed above, the camerabased method calls for a bigger form factor of the sensor, as it has to house a camera with its illumination provisions and also needs to place the camera away from the sensing surface to obtain a better view of the surface.…”

Section: Camera/vision Basedmentioning

confidence: 99%

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

Mandil,

Rajendran,

Nazari

et al. 2023

Sensors

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Tactile sensing plays a pivotal role in achieving precise physical manipulation tasks and extracting vital physical features. This comprehensive review paper presents an in-depth overview of the growing research on tactile-sensing technologies, encompassing state-of-the-art techniques, future prospects, and current limitations. The paper focuses on tactile hardware, algorithmic complexities, and the distinct features offered by each sensor. This paper has a special emphasis on agri-food manipulation and relevant tactile-sensing technologies. It highlights key areas in agri-food manipulation, including robotic harvesting, food item manipulation, and feature evaluation, such as fruit ripeness assessment, along with the emerging field of kitchen robotics. Through this interdisciplinary exploration, we aim to inspire researchers, engineers, and practitioners to harness the power of tactile-sensing technology for transformative advancements in agri-food robotics. By providing a comprehensive understanding of the current landscape and future prospects, this review paper serves as a valuable resource for driving progress in the field of tactile sensing and its application in agri-food systems.

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Section: Camera/vision Basedmentioning

confidence: 99%

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

Mandil,

Rajendran,

Nazari

et al. 2023

Sensors

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show abstract

“…In real-world robotic tasks, the robots usually require different non-planar shapes of tactile sensor surfaces, to fit either a specialized task, or the mechanical design of their end effector. While some non-planar sensors exist, they may require high fabrication cost [27,28] or large amounts of data for training the reconstruction models [29,30]. Unlike previous works, DTact can be extended with a non-planar surface while keeping the illumination condition and reconstruction algorithm the same as planar ones.…”

Section: Related Workmentioning

confidence: 99%

“…Therefore, the method to compute depth maps can be re-used for the sensors with non-planar surfaces. Both of the two sensors achieve to reconstruct their surfaces by projecting the depth maps to the non-planar surfaces with ray casting algorithm [29]. The examples indicate that DTact can perform reconstruction even when the surface is non-planar, which usually require complex mechanical design or intricate reconstruction algorithms for other sensors.…”

Section: Non-planar Surfacementioning

confidence: 99%

DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness

Lin¹,

Lin²,

Wang³

et al. 2022

Preprint

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Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend. In this work, we novelly take advantage of the reflection property of semitransparent elastomer to design a robust, low-cost, and easy-to-fabricate tactile sensor named DTact. DTact measures high-resolution 3D geometry accurately from the darkness shown in the captured tactile images with only a single image for calibration. In contrast to previous sensors, DTact is robust under various illumination conditions. Then, we build prototypes of DTact that have non-planar contact surfaces with minimal extra efforts and costs. Finally, we perform two intelligent robotic tasks including pose estimation and object recognition using DTact, in which DTact shows large potential in applications.

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“…Inspired by the human tactile system, sensors using many different technologies have been proposed, in which a variety of functional sensing elements are integrated into the robot end-effector to provide the requisite feedback. Among them, camera-based tactile sensors [3], [4], [5], [6], [7], [8], [9] show certain advantages, among them super-high-resolution as each pixel from an image can be regarded as a "tactel" (tactile element), and ease of use as they use fewer cables than other capacitive-based, resistive-based, OFETs and OECTs tactile array sensors.…”

Section: Introductionmentioning

confidence: 99%

A Miniaturised Camera-based Multi-Modal Tactile Sensor

Althoefer¹,

Ling²,

Li³

et al. 2023

Preprint

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In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive, capacitive or magnetic based), they offer superhigh-resolution, while suffering from fewer wiring problems. The human tactile system is composed of various types of mechanoreceptors, each able to perceive and process distinct information such as force, pressure, texture, etc. Camera-based tactile sensors such as GelSight mainly focus on high-resolution geometric sensing on a flat surface, and their force measurement capabilities are limited by the hysteresis and non-linearity of the silicone material. In this paper, we present a miniaturised domeshaped camera-based tactile sensor that allows accurate force and tactile sensing in a single coherent system. The key novelty of the sensor design is as follows. First, we demonstrate how to build a smooth silicone hemispheric sensing medium with uniform markers on its curved surface. Second, we enhance the illumination of the rounded silicone with diffused LEDs. Third, we construct a force-sensitive mechanical structure in a compact form factor with usage of springs to accurately perceive forces. Our multi-modal sensor is able to acquire tactile information from multi-axis forces, local force distribution, and contact geometry, all in real-time. We apply an end-to-end deep learning method to process all the information.

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DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction

Cited by 32 publications

References 71 publications

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness

A Miniaturised Camera-based Multi-Modal Tactile Sensor

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