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. 2022 Sep 5:2022:9797562.
doi: 10.34133/2022/9797562. eCollection 2022.

Implementing Monocular Visual-Tactile Sensors for Robust Manipulation

Rui Li  1 , Bohao Peng  1
Affiliations

Implementing Monocular Visual-Tactile Sensors for Robust Manipulation

Rui Li et al. Cyborg Bionic Syst. .

Abstract

Tactile sensing is an essential capability for robots performing manipulation tasks. In this paper, we introduce a framework to build a monocular visual-tactile sensor for robotic manipulation tasks. Such a sensor is easy to manufacture with affordable ingredients and materials. Based on a marker-based detection method, the sensor can detect the contact positions on a flat or curved surface. In the case study, we have implemented a visual-tactile sensor design specifically through the framework proposed in this paper. The design is low cost and can be processed in a very short time, making it suitable for use as an exploratory study in the laboratory.

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Conflict of interest statement

The authors declare that there are no conflicts of interest regarding the publication of this article.

Figures

Figure 1
Figure 1
The general structures of visual-tactile sensors. (a) The marker-based visual-tactile sensor (MVTS). (b) The retrographic sensing-based visual-tactile sensor (RSVTS).
Figure 2
Figure 2
The overall framework to build a visual-tactile sensor.
Figure 3
Figure 3
The overall framework to build a visual-tactile sensor.
Figure 4
Figure 4
The layout of the markers when the elastic layer is in a domed shape. (a) The markers will be filled within every triangle of the N frequency geodesic dome. (b) The markers are plotted with equal distances in spherical coordinates.
Figure 5
Figure 5
The vacuum drying oven, the weighing scale, and the molds.
Figure 6
Figure 6
The ArUco markers used in this case study.
Figure 7
Figure 7
The implemented visual-tactile sensor in this case study.
See this image and copyright information in PMC

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