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arXiv · 2211.04571

HySenSe: A Hyper-Sensitive and High-Fidelity Vision-Based Tactile Sensor

Ozdemir Can Kara·Naruhiko Ikoma·Farshid Alambeigi
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Abstract

In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the fabrication of the gel layer of the GelSight sensor (as the most well-known VTS), we can substantially improve its sensitivity and durability. Our experimental results clearly demonstrate the outperformance of the HySenSe compared with a similar GelSight sensor in detecting textural details of various objects under identical experimental conditions and low interaction forces (<= 1.5 N).

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Ozdemir Can Kara, Naruhiko Ikoma, Farshid Alambeigi. 2022-11-08. HySenSe: A Hyper-Sensitive and High-Fidelity Vision-Based Tactile Sensor. https://arxiv.org/abs/2211.04571

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