ACTION-DRIVEN TACTILE OBJECT EXPLORATION FOR SHAPE RECONSTRUCTION VIA OPTICAL TACTILE SENSORS
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Date
2024-04-19
Authors
Mussin, Tleukhan
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Engineering and Digital Sciences
Abstract
We introduce an action-driven tactile exploration
system using novel optical tactile sensors
integrated into the gripper of a robot arm.
These sensors consist of multiple silicone layers,
with one layer featuring alternating yellow
and red patterns. When this layer deforms
— typically by stretching and reducing
in thickness—the colored patterns shift. These
changes are captured by an onboard camera
and analyzed using a Convolutional Neural
Network (CNN) algorithm. The gripper for
the sensor was specifically designed and 3D
printed to ensure the sensors operate correctly.
The colored part of the sensor was isolated
from the external light. We tested the sensor’s
effectiveness in edge detection and localization
using four different geometric objects. We evaluated
our system using a diverse collection of
objects in both medium and large sizes.
Description
Keywords
Tactile Sensors, Type of access: Restricted
Citation
Mussin, T. (2024). Action-driven Tactile Object Exploration for Shape Reconstruction via Optical Tactile Sensors. Nazarbayev University School of Engineering and Digital Sciences