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Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation

Yaonan ZhuShukrullo NazirjonovBingheng Jiang ...+5 Jan Peters
Dec 2022
摘要
Vision-based tactile sensors have gained extensive attention in the roboticscommunity. The sensors are highly expected to be capable of extracting contactinformation i.e. haptic information during in-hand manipulation. This nature oftactile sensors makes them a perfect match for haptic feedback applications. Inthis paper, we propose a contact force estimation method using the vision-basedtactile sensor DIGIT, and apply it to a position-force teleoperationarchitecture for force feedback. The force estimation is done by building adepth map for DIGIT gel surface deformation measurement and applying aregression algorithm on estimated depth data and ground truth force data to getthe depth-force relationship. The experiment is performed by constructing agrasping force feedback system with a haptic device as a leader robot and aparallel robot gripper as a follower robot, where the DIGIT sensor is attachedto the tip of the robot gripper to estimate the contact force. The preliminaryresults show the capability of using the low-cost vision-based sensor for forcefeedback applications.
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