Vision-based tactile sensor design using physically based rendering.

ABSTRACT: High-resolution tactile sensors are very helpful to robots for fine-grained perception and manipulation tasks, but designing those sensors is challenging. This is because the designs are based on the compact integration of multiple optical elements, and it is difficult to understand the correlation between the element arrangements and the sensor accuracy by trial and error. In this work, we introduce the digital design of vision-based tactile sensors using a physically accurate light simulator. The framework modularizes the design process, parameterizes the sensor components, and contains an evaluation metric to quantify a sensor's performance. We quantify the effects of sensor shape, illumination setting, and sensing surface material on tactile sensor performance using our evaluation metr

SUBMITTER: Agarwal A 

PROVIDER: S-EPMC11828998 | biostudies-literature | 2025 Feb

REPOSITORIES: biostudies-literature