2025
Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis
IROS 2025
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing softbody deformations of the silicone gel. However, accurately inferring shear and normal force distributions from these gel deformat