Dense tactile force distribution estimation using gelslim and inverse fem
arXiv preprint arXiv:1810.04621, 2018•arxiv.org
In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to
estimate the contact force distribution in real time. The sensor is vision-based and uses an
array of markers to track deformations on a gel pad due to contact. A new hardware design
makes the sensor more rugged, parametrically adjustable and improves illumination.
Leveraging the sensor's increased functionality, we propose to use inverse Finite Element
Method (iFEM), a numerical method to reconstruct the contact force distribution based on …
estimate the contact force distribution in real time. The sensor is vision-based and uses an
array of markers to track deformations on a gel pad due to contact. A new hardware design
makes the sensor more rugged, parametrically adjustable and improves illumination.
Leveraging the sensor's increased functionality, we propose to use inverse Finite Element
Method (iFEM), a numerical method to reconstruct the contact force distribution based on …
In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and uses an array of markers to track deformations on a gel pad due to contact. A new hardware design makes the sensor more rugged, parametrically adjustable and improves illumination. Leveraging the sensor's increased functionality, we propose to use inverse Finite Element Method (iFEM), a numerical method to reconstruct the contact force distribution based on marker displacements. The sensor is able to provide force distribution of contact with high spatial density. Experiments and comparison with ground truth show that the reconstructed force distribution is physically reasonable with good accuracy.
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