MINT: A Vision-Based Soft Sensor for Mutual Integration of Normal Interaction Force and Texture Perception
Mohammad Rafiee Javazm, Siddhartha Kapuria, Ozdemir Can Kara, Sonika Kiehler, Rami Hamada, Joga Ivatury, Farshid Alambeigi
Abstract
Inspired by the design of Vision-based Tactile Sensors (VTSs) and soft resistive strain sensors, in this paper, we introduce MINT: a vision-based soft sensor for Mutual Integration of Normal interaction force and Texture perception. MINT is a hybrid vision-based tactile sensor that simultaneously integrates normal force measurement with high-resolution texture perception. This unique sensor utilizes a soft resistive strain sensor between the Gel Layer and Mirror Layer of a typical VTS. By combining electrical and visual sensing modalities, MINT overcomes the limitations of existing resistive sensors and VTSs, offering a robust, efficient, and scalable solution for direct measurement of force and texture capture. To evaluate MINT’s functionality, we first propose a unique design and fabrication procedure. Next, we conduct a series of experiments, evaluating its force and texture sensing capabilities through interactions with various rigid objects.