4 papers
FEM-Validated Real-Time Modelling of Soft Tactile Deformation
Silvia Terrile, Kaichen Shi, Taejun Kwon +5
Accurate modelling of soft tactile sensors remains difficult because finite element methods (FEM) are computa- tionally expensive, while real-time simulators often lack fidelity fo…
TactiVerse: Generalizing Multi-Point Tactile Sensing in Soft Robotics Using Single-Point Data
Junhui Lee, Hyosung Kim, Saekwang Nam
Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal…
TacFinRay: Soft Tactile Fin-Ray Finger with Indirect Tactile Sensing for Robust Grasping
Saekwang Nam, Bowen Deng, Loong Yi Lee +2
We present a tactile-sensorized Fin-Ray finger that enables simultaneous detection of contact location and indentation depth through an indirect sensing approach. A hinge mechanism…
StereoTacTip: Vision-based Tactile Sensing with Biomimetic Skin-Marker Arrangements
Chenghua Lu, Kailuan Tang, Xueming Hui +3
Vision-Based Tactile Sensors (VBTSs) stand out for their superior performance due to their high-information content output. Recently, marker-based VBTSs have been shown to give acc…