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• W4386473175 abstract "Tactile sensors are crucial in providing contact geometry information necessary for object manipulation. However, it remains highly non-trivial for a tactile sensor to be able to perceive a distant object prior to manipulation. In this work, we present an innovative robotic finger, <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>VisTac</i> , which seamlessly combines high-resolution tactile and visual perception in a single unified device, while adhering to essential mechanical constraints, such as a human-finger-like wedge-shaped top, vital for manipulation tasks. Furthermore, we discuss the fabrication of a key component in the device; the semi-transparent membrane with light-dependent opacity, thus, enabling the contact surface to effortlessly transition between Visual and Tactile modes. With a compact, two-camera configuration, we demonstrate the sensor’s multimodal sensing capabilities through 3D reconstruction of the tactile imprints, distant object localization via vision, and pose estimation using both visual and tactile feedback. <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>VisTac</i> is capable of delivering the vision and touch capabilities to accurately locate an object in the 3D space, using vision, and then adeptly manipulate it according to the task at hand, relying on tactile feedback. To demonstrate the remarkable abilities of the sensor we carry out a <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>peg-in-hole</i> insertion task. This work primarily seeks to pave the way for future research toward developing unified Visual-Tactile sensors." @default.
• W4386473175 created "2023-09-07" @default.
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• W4386473175 date "2023-10-15" @default.
• W4386473175 modified "2023-10-18" @default.
• W4386473175 title "<i>VisTac</i> Towards a Unified Multi-Modal Sensing Finger for Robotic Manipulation" @default.
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• W4386473175 doi "https://doi.org/10.1109/jsen.2023.3310918" @default.
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