Pei Lin*1,2, [YuZhe Huang*]1,3, Wanlin Li*1, [Jianpeng Ma]1, Chenxi Xiao†2, Ziyuan Jiao†1
1Beijing Institute for General Artificial Intelligence, 2ShanghaiTech University, 3Beihang University
[Project page] [Paper] [Video Tutorial_Youtube] [Video Tutorial_Bilibili]
All CAD models can be downloaded and edited from [onshape]
(right click and copy link address to enter).
3D printed files (print with supportings) can be found in 3Dprinting.
We use 120fps OV9281 Monochrome camera module which can be bought from Taobao or Amazon
The PCB files can be downloaded from PCB and is powered by 5V.
If you opt for white LED chips, it is recommended to select the 2835 package type and pay attention to the anode and cathode of the LED chips.
Diffuser patterns (.dxf) can be downloaded from Diffuser. It is recommended to laser-cut the double-sided frosted one. You can also try 3D printing with white resin.
The design files can be downloaded from Mold. Two molds are needed for PDMS casting (27mm diameter) and Silicone casting (30mm diameter). The mold is fabricated using stainless steel with polished and buffing cavity.
| Component | Description | Remark |
|---|---|---|
| PDMS | Transparent base | SYLGARD™ 184 |
| Silicone | Translucent layer | Ecoflex™ 00-10 |
| Black pigment | Coating colorant | Silc Pig™ |
| Coating | Coating layer | Psycho Paint™ |
| Thinner | Coating layer thinner | NOVOCS™ Matte |
| Release agent | Silicone release agent | Ease Release™ 200 |
| Bolts | M2 * 4 & M1.6 * 5 & M3 *4 | bolts |
| Hot melt nuts | M2 * 2 * 3 | nuts |
| Soldering iron | Compatiable with above nuts | Soldering Iron |
| Scale | For silicone mixing | Electronic Scale |
| Tape | Double-sided tape | Tape |
| Stick | Stirring silicone | Small Wood Stick |
| Cup | Container for silicone | Disposable Cups |
| Sticker | Dust removal of silicone surface | Sticker |
| Vacuum pump | Air degassing for silicone | Vacuum Pump |
| Other tools | Small scissor, tweezer, knife | Tools |
Recommended camera resolution: 640 * 480
Refer to this website for intrinsic calibration.
3D print the calibration tools: top, surrounding and 5 pins. Drill and clean the holes in the top model to ensure that pins can be inserted.
In accordance with the hole index in the figure below and referring to the capture name in this folder, insert the five pins into the corresponding holes in one go. Subsequently, save and replace the existing images.
run ./Calibration/1CameraExtrinsics.py and replace the CAMERA_MATRIX and Distortion with your own camera intrinsc parameters to obtain the camera extrinsics.
run ./Calibration/2Reprojection.py to obtain the reference depth map and the mask center and radius.
you can either directly run ./Calibration/3ShapeReconstruction_directuse.py to obtain the surface shape via the model we have trained using indenters
or
you can build a table by yourself using a single ball capture (press on the top middle area), by running ./Calibration/3SensorCalibration.py and ./Calibration/4ShapeReconstruction.py
9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation, Lin et al., RAL 2023
@article{lin2025pp,
title={PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands},
author={Lin, Pei and Huang, Yuzhe and Li, Wanlin and Ma, Jianpeng and Xiao, Chenxi and Jiao, Ziyuan},
journal={arXiv preprint arXiv:2504.16649},
year={2025}
}