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- W4313197429 abstract "Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and applying a regression algorithm on estimated depth data and ground truth force data to get the depth-force relationship. The experiment is performed by constructing a grasping force feedback system with a haptic device as a leader robot and a parallel robot gripper as a follower robot, where the DIGIT sensor is attached to the tip of the robot gripper to estimate the contact force. The preliminary results show the capability of using the low-cost vision-based sensor for force feedback applications." @default.
- W4313197429 created "2023-01-06" @default.
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- W4313197429 date "2022-12-25" @default.
- W4313197429 modified "2023-09-26" @default.
- W4313197429 title "Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation" @default.
- W4313197429 doi "https://doi.org/10.48550/arxiv.2212.13007" @default.
- W4313197429 hasPublicationYear "2022" @default.
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