Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing
For robotic manipulation researchers, this sensor addresses the need for multi-modal tactile sensing in a compliant form factor, though it is an incremental step combining existing sensing modalities.
This paper presents a novel tactile sensor that integrates velocity, force/torque, and pressure map sensing in a single deformable device for slip-aware in-hand manipulation. Experimental evaluation demonstrates robust tracking across various surfaces and materials, with rapid, low-cost fabrication.
This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations. The sensor is designed for rapid and low-cost fabrication using a combination of standard PCB manufacturing and rapid prototyping techniques.