Abstract— Tactile sensing has gained interest among robotics researchers due to its utility in obtaining geometric information about unknown physical contact. This can be used for contact-rich dexterous manipulation tasks when interacting with the environment. To acquire multimodal contact information in a compact structure, we have developed a new sensor called ViTacTip. This sensor physically …
Abstract— In this study, we introduce a new soft biomimetic optical tactile sensor based on the working principle of shallow mechanoreceptors: the “TacTipBio.” The primary sensing unit comprises a sharp tip surrounded by four cover tips that when subjected to an external force emphasize the applied direction and contact location, for high-resolution imaging by an …
Abstract— Accurate robotic control over interactions with the environment is fundamentally grounded in sensing and understanding tactile contacts. To propel advancements in robotic contact-rich manipulation, we introduce MagicTip, a novel high-resolution vision-based tactile sensor (VBTS). This sensor employs a 3D multi-layer marker-based design, inspired by the Magic Cube structure. The 3D multi-layer markers can help …
