Minsight: A Fingertip‐Sized Vision‐Based Tactile Sensor for Robotic Manipulation
Iris Andrussow, Huanbo Sun, Katherine J. Kuchenbecker, Georg Martius
Abstract
Tactile Sensing In article number 2300042, Iris Andrussow, Huanbo Sun, Katherine J. Kuchenbecker, and Georg Martius introduce a miniaturized soft sensor that can give autonomous robots vibrant tactile sensing for safe interactions in the real world. Minsight delivers high-resolution spatially distributed 3D force information using a single camera, colored internal lighting, and end-to-end learning. Its design is robust, efficient, and compact, making it suitable for real-time control loops on robotic end-effectors.
Topics & Concepts
Tactile sensorComputer visionArtificial intelligenceComputer scienceRobotRobot end effectorAdvanced Sensor and Energy Harvesting MaterialsTactile and Sensory Interactions