Lu, Zhenyu and Yang, Jialong and Li, Haoran and Li, Yifan and Si, Weiyong and Lepora, Nathan and Yang, Chenguang (2024) TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. In: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024-05-13 - 2024-05-17, Yokohama, Japan.
Lu, Zhenyu and Yang, Jialong and Li, Haoran and Li, Yifan and Si, Weiyong and Lepora, Nathan and Yang, Chenguang (2024) TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. In: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024-05-13 - 2024-05-17, Yokohama, Japan.
Lu, Zhenyu and Yang, Jialong and Li, Haoran and Li, Yifan and Si, Weiyong and Lepora, Nathan and Yang, Chenguang (2024) TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. In: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024-05-13 - 2024-05-17, Yokohama, Japan.
Abstract
In this paper, we present the TacShade: a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and shadow, resulting in the creation of a 3D-view effect. TacShade, building upon the strengths of the TacTip, a single-camera tactile sensor of large in-depth deformation and being sensitive to edge and surface following, improves the structure in that the markers are distributed within the gap of papillae pins. Variations in light, dark and grey effects can be generated inside the sensor under the external contact interactions. The contours of the contacting objects are outlined by white markers, while the contact depth characteristics can be indirectly obtained from the distribution of black pins and white markers, creating a 2.5D visualization. Based on the imaging effect, we improve the Shape from Shading (SFS) algorithm to process tactile images, enabling a coarse but fast reconstruction for the contact objects. Two experiments are performed. The first verifies TacShade’s ability to reconstruct the shape of the contact objects through one image for object distinction. The second experiment shows the shape reconstruction capability of TacShade for a large panel with ridged patterns based on the location of robots and image splicing technology.
Item Type: | Conference or Workshop Item (Paper) |
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Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 02 Oct 2024 14:30 |
Last Modified: | 02 Oct 2024 14:30 |
URI: | http://repository.essex.ac.uk/id/eprint/38966 |
Available files
Filename: 2406.00485v1.pdf