A soft thumb-sized vision-based sensor with accurate all-round force perception
Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer vision techniques; however, their physical design and the information they provide do not yet meet the requirements of real applications. We present a r...
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Published in | Nature machine intelligence Vol. 4; no. 2; pp. 135 - 145 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
London
Nature Publishing Group UK
01.02.2022
Nature Publishing Group |
Subjects | |
Online Access | Get full text |
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Summary: | Vision-based haptic sensors have emerged as a promising approach to robotic touch due to affordable high-resolution cameras and successful computer vision techniques; however, their physical design and the information they provide do not yet meet the requirements of real applications. We present a robust, soft, low-cost, vision-based, thumb-sized three-dimensional haptic sensor named Insight, which continually provides a directional force-distribution map over its entire conical sensing surface. Constructed around an internal monocular camera, the sensor has only a single layer of elastomer over-moulded on a stiff frame to guarantee sensitivity, robustness and soft contact. Furthermore, Insight uniquely combines photometric stereo and structured light using a collimator to detect the three-dimensional deformation of its easily replaceable flexible outer shell. The force information is inferred by a deep neural network that maps images to the spatial distribution of three-dimensional contact force (normal and shear). Insight has an overall spatial resolution of 0.4 mm, a force magnitude accuracy of around 0.03 N and a force direction accuracy of around five degrees over a range of 0.03–2 N for numerous distinct contacts with varying contact area. The presented hardware and software design concepts can be transferred to a wide variety of robot parts.
High-fidelity haptic sensors with three-dimensional sensing surfaces are needed to advance dexterous robotic manipulation. The authors develop a sensor design that offers accurate force sensation across a three-dimensional surface while being robust, low-cost and easy to fabricate. |
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ISSN: | 2522-5839 2522-5839 |
DOI: | 10.1038/s42256-021-00439-3 |