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GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force.

Wenzhen Yuan1, Siyuan Dong2, Edward H Adelson3

  • 1Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA 02139, USA. yuan_wz@csail.mit.edu.

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|November 30, 2017
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Summary

This study introduces GelSight, a vision-based optical tactile sensor for robots. GelSight offers high-resolution geometry and force sensing, enhancing robotic manipulation and material perception capabilities.

Keywords:
GelSightroboticstactile sensing

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Area of Science:

  • Robotics
  • Sensor Technology
  • Computer Vision

Background:

  • Existing tactile sensing technologies for robots have limitations.
  • Key questions remain regarding the type and application of tactile information for robots.
  • A soft sensor surface and high-resolution geometric sensing are crucial for competent tactile sensors.

Purpose of the Study:

  • To discuss the development of GelSight, a vision-based optical tactile sensor.
  • To emphasize the sensing principle and sensor design of GelSight for robotic applications.
  • To review hardware and software supporting GelSight's use on robot hands.

Main Methods:

  • Developed a vision-based optical tactile sensor (GelSight) with a soft elastomer contact surface.
  • Designed an optical system and algorithms for measuring deformation, inferring shape, force, and slip.
  • Fabricated different sensor versions and conducted experimental evaluations.

Main Results:

  • GelSight measures geometry with very high spatial resolution, capturing object shape and surface tension.
  • Contact force and slip can be inferred from sensor deformation.
  • Experimental evaluations confirmed GelSight's performance in geometry and force measurement.

Conclusions:

  • GelSight provides high-resolution measurement of shape and contact force.
  • The sensor has successfully assisted robotic tasks like material recognition and in-hand localization.
  • GelSight represents a significant advancement in tactile sensing for robotic manipulation.