Computer Science > Robotics
arXiv:2403.05500 (cs)
[Submitted on 8 Mar 2024 (v1), last revised 2 Nov 2024 (this version, v4)]
Title:Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
Authors:Julia Di,Zdravko Dugonjic,Will Fu,Tingfan Wu,Romeo Mercado,Kevin Sawyer,Victoria Rose Most,Gregg Kammerer,Stefanie Speidel,Richard E. Fan,Geoffrey Sonn,Mark R. Cutkosky,Mike Lambeta,Roberto Calandra
View a PDF of the paper titled Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors, by Julia Di and 13 other authors
View PDFHTML (experimental)Abstract:Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniature cameras. The associated field of view and focal length, however, are difficult to package in a human-sized finger. In this paper we employ optical fiber bundles to achieve a form factor that, at 15 mm diameter, is smaller than an average human fingertip. The electronics and camera are also located remotely, further reducing package size. The sensor achieves a spatial resolution of 0.22 mm and a minimum force resolution 5 mN for normal and shear contact forces. With these attributes, the DIGIT Pinki sensor is suitable for applications such as robotic and teleoperated digital palpation. We demonstrate its utility for palpation of the prostate gland and show that it can achieve clinically relevant discrimination of prostate stiffness for phantom and ex vivo tissue.
| Comments: | This work has been submitted to the IEEE for possible publication. The CAD design files of DIGIT Pinki are available atthis https URL |
| Subjects: | Robotics (cs.RO) |
| Cite as: | arXiv:2403.05500 [cs.RO] |
| (orarXiv:2403.05500v4 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2403.05500 arXiv-issued DOI via DataCite |
Submission history
From: Julia Di [view email][v1] Fri, 8 Mar 2024 18:17:56 UTC (29,140 KB)
[v2] Tue, 12 Mar 2024 03:46:57 UTC (29,140 KB)
[v3] Mon, 21 Oct 2024 19:03:47 UTC (17,580 KB)
[v4] Sat, 2 Nov 2024 08:04:16 UTC (21,007 KB)
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View a PDF of the paper titled Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors, by Julia Di and 13 other authors
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