Minsight: A Fingertip‐Sized Vision‐Based Tactile Sensor for Robotic Manipulation
نویسندگان
چکیده
Tactile Sensing In article number 2300042, Iris Andrussow, Huanbo Sun, Katherine J. Kuchenbecker, and Georg Martius introduce a miniaturized soft sensor that can give autonomous robots vibrant tactile sensing for safe interactions in the real world. Minsight delivers high-resolution spatially distributed 3D force information using single camera, colored internal lighting, end-to-end learning. Its design is robust, efficient, compact, making it suitable real-time control loops on robotic end-effectors.
منابع مشابه
Tactile sensing and control of robotic manipulation
This paper reviews the current state of the art and outlook in robotic tactile sensing for real-time control of dextrous manipulation. We begin with an overview of human touch sensing capabilities and draw lessons for robotic manipulation. Next, tactile sensor devices are described, including tactile array sensors, force-torque sensors, and dynamic tactile sensors. The information provided by t...
متن کاملA Tactile Sensor for Localizing Transient Events in Manipulation
This paper presents a tactile sensor that provides transient event information at the jinger-object interface. The multi-element stress rate sensor consists of piezoelectric polymer strips molded into the surface of the rubber “skin“ covering the robot finger tip. These piezoelectric elements provide localized information important to manipulation control. We provide experimental results confir...
متن کاملTactile sensing in intelligent robotic manipulation - a review
A tactile sense is key to advanced robotic grasping and manipulation. By touching an object it is possible to measure contact properties such as contact forces, torques, and contact position. From these, we can estimate object properties such as geometry, stiffness, and surface condition. This information can then be used to control grasping or manipulation, to detect slip, and also to create o...
متن کاملDesign and Construction of a New Capacitive Tactile Sensor for Measuring Normal Tactile Force
This paper presents the design, construction and testing of a new capacitive tactile sensor for measurement of normal tactile force. The operation of proposed sensor has been investigated in ASTABLE and MONOSTABLE circuits. According to the results of these circuits the deviation of ASTABLE circuit results is less than MONOSTABLE circuit results. In addition, the results obtained from ASTABLE c...
متن کاملHigh-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information
1Department of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan 2Hyogo Prefectural Institute of Technology, Hyogo 654-0037, Japan 3Maeda Precision Mfg, Co., Ltd., Kobe 650-0017, Japan 4Hiroshima International University, Kure 737-0112, Japan 5The Advanced Materials Processing Institute Kinki Japan, Hyogo 6...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Advanced intelligent systems
سال: 2023
ISSN: ['2640-4567']
DOI: https://doi.org/10.1002/aisy.202370035