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

@article{Lambeta2020DIGITAN,
  title={DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation},
  author={Mike Lambeta and Po-wei Chou and Stephen Tian and Brian Yang and Benjamin Maloon and Victoria Rose Most and Dave Stroud and Raymond Santos and A. Byagowi and Gregg Kammerer and Dinesh Jayaraman and R. Calandra},
  journal={IEEE Robotics and Automation Letters},
  year={2020},
  volume={5},
  pages={3838-3845}
}
Despite decades of research, general purpose in-hand 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… Expand
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactileExpand
Blocks World of Touch: Exploiting the Advantages of All-Around Finger Sensing in Robot Grasping
TLDR
The experiments show that the contacts at different moments of the reach-to-grasp movements can be sensed using the novel GelTip sensor, a camera-based tactile sensor that has the shape of a finger and can sense contacts on any location of its surface. Expand
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
TLDR
This article reviews the BRL TacTip as a prototypical example of a SoftBOT (Soft Biomimetic Optical Tactile) sensor and discusses the relation between artificial skin morphology and the transduction principles of human touch. Expand
GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger
This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with smallExpand
TACTO: A Fast, Flexible and Open-source Simulator for High-Resolution Vision-based Tactile Sensors
TLDR
TACTO is a fast, flexible and open-source simulator for vision-based tactile sensors that allows to render realistic high-resolution touch readings at hundreds of frames per second, and can be easily configured to simulate different vision- based tactile sensors, including GelSight, DIGIT and OmniTact. Expand
Visiflex: A Low-Cost Compliant Tactile Fingertip for Force, Torque, and Contact Sensing
TLDR
The Visiflex is presented, an inexpensive compliant tactile fingertip capable of contact localization and 6 degree-of-freedom (dof) contact force and torque measurement and built directly into it in the form of a well-characterized 6-dof flexure between the fingertip and the base of thevisiflex. Expand
Data-driven Tactile Sensing using Spatially Overlapping Signals
TLDR
This work proposes a method where sensing terminals are embedded in a volume of soft material, and achieves high accuracy in identifying indentation location and depth and lends itself to simple fabrication techniques and makes no assumption about the underlying geometry. Expand
TACTO: A Simulator for Learning Control from Touch Sensing
Simulators perform an important role in prototyping, debugging and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real-worldExpand
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger
TLDR
The GelSight Wedge sensor is presented, which is optimized to have a compact shape for robot fingers, while achieving highresolution 3D reconstruction, and the effectiveness and potential of the reconstructed 3D geometry for pose tracking in the 3D space is shown. Expand
Sim-to-real for high-resolution optical tactile sensing: From images to 3D contact force distributions
TLDR
A strategy to generate tactile images in simulation for a vision-based tactile sensor based on an internal camera that tracks the motion of spherical particles within a soft material using an artificial neural network entirely trained on synthetic data avoiding the need for real-world data collection. Expand
...
1
2
3
4
...

References

SHOWING 1-10 OF 36 REFERENCES
Tactile sensing for dexterous in-hand manipulation in robotics-A review
Abstract As the field of robotics is expanding from the fixed environment of a production line to complex human environments, robots are required to perform increasingly human-like manipulationExpand
Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand
TLDR
A three-dimensional-printed, three-fingered tactile robot hand comprising an OpenHand ModelO customized to house a TacTip soft biomimetic tactile sensor in the distal phalanx of each finger is presented. Expand
Manipulation by Feel: Touch-Based Control with Deep Predictive Models
TLDR
This paper proposes deep tactile MPC, a framework for learning to perform tactile servoing from raw tactile sensor inputs, without manual supervision, and shows that this method enables a robot equipped with a GelSight-style tactile sensor to manipulate a ball, analog stick, and 20-sided die. Expand
GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger
TLDR
This work describes the development of a high-resolution tactile-sensing finger for robot grasping that features an integration that is slimmer, more robust, and with more homogeneous output than previous vision-based tactile sensors. Expand
Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor
TLDR
The vision-based tactile sensor proposed in this article exploits the extremely high resolution of modern image sensors to reconstruct the normal force distribution applied to a soft material, whose deformation is observed on the camera images. Expand
The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies
TLDR
A range of soft optical tactile sensors with various morphologies fabricated through dual-material 3D printing, inspired by the same biomimetic design principle, suitable for real-world applications in tactile perception, exploration, and manipulation. Expand
Planar and finger-shaped optical tactile sensors for robotic applications
  • S. Begej
  • Engineering, Computer Science
  • IEEE J. Robotics Autom.
  • 1988
Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving theExpand
Tactile sensing in dexterous robot hands - Review
TLDR
Current state-of-the-art of manipulation and grasping applications that involve artificial sense of touch that involve algorithms and tactile feedback-based control systems that exploit signals from the sensors are reviewed. Expand
Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost
TLDR
It is shown that contact-rich manipulation behavior with multi-fingered hands can be learned by directly training with model-free deep RL algorithms in the real world, with minimal additional assumption and without the aid of simulation, indicating that direct deep RL training in thereal world is a viable and practical alternative to simulation and model-based control. Expand
Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor
TLDR
A multifingered robotic hand eNAIST-Handf and a grip force control by slip margin feedback and a new tactile sensor designed to active the proposed control method by the NAIST- hand are introduced. Expand
...
1
2
3
4
...