TY - JOUR
T1 - AllSight
T2 - A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability
AU - Azulay, Osher
AU - Curtis, Nimrod
AU - Sokolovsky, Rotem
AU - Levitski, Guy
AU - Slomovik, Daniel
AU - Lilling, Guy
AU - Sintov, Avishai
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2024/1/1
Y1 - 2024/1/1
N2 - Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually not easy to fabricate and require individual calibration in order to acquire sufficient accuracy. In this letter, we propose AllSight, an optical tactile sensor with a round 3D structure designed for robotic in-hand manipulation tasks. AllSight is mostly 3D printed including a novel and simplified fabrication processes. This makes it low-cost, modular, durable and in the size of a human thumb while with a large contact surface. We show the ability of AllSight to learn and estimate a full contact state, i.e., contact position, forces and torsion. With that, an experimental benchmark between various configurations of illumination and contact elastomers are provided. Furthermore, the robust design of AllSight provides it with a unique zero-shot capability such that a practitioner can fabricate the open-source design and have a ready-to-use state estimation model. A set of experiments demonstrates the accurate state estimation performance of AllSight.
AB - Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually not easy to fabricate and require individual calibration in order to acquire sufficient accuracy. In this letter, we propose AllSight, an optical tactile sensor with a round 3D structure designed for robotic in-hand manipulation tasks. AllSight is mostly 3D printed including a novel and simplified fabrication processes. This makes it low-cost, modular, durable and in the size of a human thumb while with a large contact surface. We show the ability of AllSight to learn and estimate a full contact state, i.e., contact position, forces and torsion. With that, an experimental benchmark between various configurations of illumination and contact elastomers are provided. Furthermore, the robust design of AllSight provides it with a unique zero-shot capability such that a practitioner can fabricate the open-source design and have a ready-to-use state estimation model. A set of experiments demonstrates the accurate state estimation performance of AllSight.
KW - Force and tactile sensing
KW - transfer learning
UR - http://www.scopus.com/inward/record.url?scp=85178055985&partnerID=8YFLogxK
U2 - 10.1109/LRA.2023.3333701
DO - 10.1109/LRA.2023.3333701
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AN - SCOPUS:85178055985
SN - 2377-3766
VL - 9
SP - 483
EP - 490
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 1
ER -