Tactile Image Sensors Employing Camera: A Review

Shimonomura, Kazuhiro

doi:10.3390/s19183933

Cited by 133 publications

(75 citation statements)

References 113 publications

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“…Compared to other classes of tactile sensors, vision-based sensors often provide advantages in terms of spatial resolution, higher sensitivity, and manufacturing cost, although resulting in bulkier form factors. Previous vision-based tactile sensors include TacTip [13], [14], FingerVision [10], GelSight [11], [12] and several other [15], [24]. Among these, GelSight sensors have been quite popular in the recent robotic literature, and several sensors have been presented [11], [12] that use a soft reflective elastomer with printed markers as the contact surface, and outputs images of the surface deformations.…”

Section: Related Workmentioning

confidence: 99%

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DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation

Lambeta

Chou

Tian

et al. 2020

IEEE Robot. Autom. Lett.

341

179

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Despite decades of research, general purpose inhand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing contact forces -sensing and reasoning about contact forces are crucial to accurately control interactions with the environment. As a step towards enabling better robotic manipulation, we introduce DIGIT, an inexpensive, compact, and high-resolution tactile sensor geared towards in-hand manipulation. DIGIT improves upon past vision-based tactile sensors by miniaturizing the form factor to be mountable on multi-fingered hands, and by providing several design improvements that result in an easier, more repeatable manufacturing process, and enhanced reliability. We demonstrate the capabilities of the DIGIT sensor by training deep neural network model-based controllers to manipulate glass marbles in-hand with a multi-finger robotic hand. To provide the robotic community access to reliable and low-cost tactile sensors, we open-source the DIGIT design at www.digit.ml.

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Section: Related Workmentioning

confidence: 99%

“…While DIGIT is by default equipped with reflective elastomers, its modular design makes it easy to swap in a FingerVisionstyle transparent elastomer, or a TacTip-style elastomer with markers, as discussed in Section III. For a more complete review of vision-based tactile sensors, we point the readers to [24].…”

Section: Related Workmentioning

confidence: 99%

DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation

Lambeta

Chou

Tian

et al. 2020

IEEE Robot. Autom. Lett.

341

179

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show abstract

“…Several types of tactile interfaces (transparent plate, marker-based skin and marker-less skin) and corresponding image processing methods have been addressed to detect relative motion of the object. Recently, Kazuhiro in [51] reviewed the earlier works and recent developments in vision-based tactile sensors. He classified such sensors into three categories based on the sensing principles that is light conductive plate based [46], marker displacement based [50], [52], [53] and reflective membrane based [54].…”

Section: B Slip Detection Via Conventional Sensingmentioning

confidence: 99%

Neuromorphic Event-Based Slip Detection and Suppression in Robotic Grasping and Manipulation

et al. 2020

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Slip detection is essential for robots to make robust grasping and fine manipulation. In this paper, a novel dynamic vision-based finger system for slip detection and suppression is proposed. We also present a baseline and feature based approach to detect object slips under illumination and vibration uncertainty. A threshold method is devised to autonomously sample noise and object feature events in real-time to improve slip detection and suppression. Moreover, a fuzzy based suppression strategy using incipient slip feedback is proposed for regulating the grip force. A comprehensive experimental study of our proposed approaches under uncertainty and system for high-performance precision manipulation are presented. We also propose a slip metric to evaluate such performance quantitatively. For a class of objects, results indicate that the system can effectively detect incipient slip events at a sampling rate of 2kHz (∆t = 500µs) and suppress them before a gross slip occurs. The event-based approach holds promises to high precision manipulation task requirement in industrial manufacturing and household services.

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“…Furthermore, this type of monitoring can save millions of lives around the globe annually [27][28][29]. Advancements in engineering and material science have been the main driver in the development of sensor technologies during the past decade [29][30][31]. Indeed, tactile sensors, and more precisely, skin-like soft electronics begin to transform healthcare [32][33][34].…”

Section: Introductionmentioning

confidence: 99%

Blood Pressure Sensors: Materials, Fabrication Methods, Performance Evaluations and Future Perspectives

Al-Qatatsheh

Morsi

Zavabeti

et al. 2020

Sensors

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Advancements in materials science and fabrication techniques have contributed to the significant growing attention to a wide variety of sensors for digital healthcare. While the progress in this area is tremendously impressive, few wearable sensors with the capability of real-time blood pressure monitoring are approved for clinical use. One of the key obstacles in the further development of wearable sensors for medical applications is the lack of comprehensive technical evaluation of sensor materials against the expected clinical performance. Here, we present an extensive review and critical analysis of various materials applied in the design and fabrication of wearable sensors. In our unique transdisciplinary approach, we studied the fundamentals of blood pressure and examined its measuring modalities while focusing on their clinical use and sensing principles to identify material functionalities. Then, we carefully reviewed various categories of functional materials utilized in sensor building blocks allowing for comparative analysis of the performance of a wide range of materials throughout the sensor operational-life cycle. Not only this provides essential data to enhance the materials’ properties and optimize their performance, but also, it highlights new perspectives and provides suggestions to develop the next generation pressure sensors for clinical use.

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Tactile Image Sensors Employing Camera: A Review

Cited by 133 publications

References 113 publications

DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation

DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation

Neuromorphic Event-Based Slip Detection and Suppression in Robotic Grasping and Manipulation

Blood Pressure Sensors: Materials, Fabrication Methods, Performance Evaluations and Future Perspectives

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