Active shape reconstruction using a novel visuotactile palm sensor
Tactile sensing enables high-precision 3D shape perception when vision is limited. However, tactile-based shape reconstruction remains a challenging problem. In this paper, a novel visuotactile sensor, GelStereo Palm 2.0, is proposed to better capture 3D contact geometry. Leveraging the dense tactil...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2024-09-01
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| Series: | Biomimetic Intelligence and Robotics |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379724000251 |
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| _version_ | 1850264151268524032 |
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| author | Jingyi Hu Shaowei Cui Shuo Wang Rui Wang Yu Wang |
| author_facet | Jingyi Hu Shaowei Cui Shuo Wang Rui Wang Yu Wang |
| author_sort | Jingyi Hu |
| collection | DOAJ |
| description | Tactile sensing enables high-precision 3D shape perception when vision is limited. However, tactile-based shape reconstruction remains a challenging problem. In this paper, a novel visuotactile sensor, GelStereo Palm 2.0, is proposed to better capture 3D contact geometry. Leveraging the dense tactile point cloud captured by GelStereo Palm 2.0, an active shape reconstruction pipeline is presented to achieve accurate and efficient 3D shape reconstruction on irregular surfaces. GelStereo Palm 2.0 achieves a spatial resolution of 1.5 mm and a reconstruction accuracy of 0.3 mm. The accuracy of the proposed active shape reconstruction pipeline reaches 2.3 mm within 18 explorations. The proposed method has potential applications in the shape reconstruction of transparent or underwater objects. |
| format | Article |
| id | doaj-art-2935745de0e04fde9ae7cb26a73b4824 |
| institution | OA Journals |
| issn | 2667-3797 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj-art-2935745de0e04fde9ae7cb26a73b48242025-08-20T01:54:46ZengElsevierBiomimetic Intelligence and Robotics2667-37972024-09-014310016710.1016/j.birob.2024.100167Active shape reconstruction using a novel visuotactile palm sensorJingyi Hu0Shaowei Cui1Shuo Wang2Rui Wang3Yu Wang4Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China; School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, ChinaState Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China; Corresponding author.State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China; School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China; Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai 200031, ChinaState Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaState Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaTactile sensing enables high-precision 3D shape perception when vision is limited. However, tactile-based shape reconstruction remains a challenging problem. In this paper, a novel visuotactile sensor, GelStereo Palm 2.0, is proposed to better capture 3D contact geometry. Leveraging the dense tactile point cloud captured by GelStereo Palm 2.0, an active shape reconstruction pipeline is presented to achieve accurate and efficient 3D shape reconstruction on irregular surfaces. GelStereo Palm 2.0 achieves a spatial resolution of 1.5 mm and a reconstruction accuracy of 0.3 mm. The accuracy of the proposed active shape reconstruction pipeline reaches 2.3 mm within 18 explorations. The proposed method has potential applications in the shape reconstruction of transparent or underwater objects.http://www.sciencedirect.com/science/article/pii/S2667379724000251Tactile sensingVisuotactile sensorActive shape reconstruction |
| spellingShingle | Jingyi Hu Shaowei Cui Shuo Wang Rui Wang Yu Wang Active shape reconstruction using a novel visuotactile palm sensor Biomimetic Intelligence and Robotics Tactile sensing Visuotactile sensor Active shape reconstruction |
| title | Active shape reconstruction using a novel visuotactile palm sensor |
| title_full | Active shape reconstruction using a novel visuotactile palm sensor |
| title_fullStr | Active shape reconstruction using a novel visuotactile palm sensor |
| title_full_unstemmed | Active shape reconstruction using a novel visuotactile palm sensor |
| title_short | Active shape reconstruction using a novel visuotactile palm sensor |
| title_sort | active shape reconstruction using a novel visuotactile palm sensor |
| topic | Tactile sensing Visuotactile sensor Active shape reconstruction |
| url | http://www.sciencedirect.com/science/article/pii/S2667379724000251 |
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