DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction

Abstract

Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in manipulation tasks. Existing tactile sensor solutions with high resolution have limitations that include low accuracy, expensive components, or lack of scalability. In this paper, an inexpensive, scalable, and compact tactile sensor with high-resolution surface deformation modeling for surface reconstruction of the 3D sensor surface is presented. By observing the contact surface with a fisheye camera, it is shown that the surface deformation can be estimated in real-time (1.8 ms) using deep convolutional neural networks. This sensor in its design and sensing abilities represents a significant step toward better object in-hand localization, classification, and surface estimation all enabled by calibrated, high-resolution shape reconstruction.