Active shape reconstruction using a novel visuotactile palm sensor  

作　　者：Jingyi Hu Shaowei Cui Shuo Wang Rui Wang Yu Wang 

机构地区：[1]Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China [2]School of Future Technology,University of Chinese Academy of Sciences,Beijing 100049,China [3]State Key Laboratory of Multimodal Artificial Intelligence Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China [4]School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China [5]Center for Excellence in Brain Science and Intelligence Technology,Chinese Academy of Sciences,Shanghai 200031,China

出　　处：《Biomimetic Intelligence & Robotics》2024年第3期15-22,共8页仿生智能与机器人（英文）

基　　金：supported in part by the National Key Research and Development Program of China(2023YFB4705000);in part by the National Natural Science Foundation of(62303455,62273342,and 62122087);in part by Beijing Natural Science Foundation(L233006).

摘　　要：Tactile sensing enables high-precision 3D shape perception when vision is limited.However,tactilebased shape reconstruction remains a challenging problem.In this paper,a novel visuotactile sensor,GelStereo Palm 2.0,is proposed to better capture 3D contact geometry.Leveraging the dense tactile point cloud captured by GelStereo Palm 2.0,an active shape reconstruction pipeline is presented to achieve accurate and efficient 3D shape reconstruction on irregular surfaces.GelStereo Palm 2.0 achieves a spatial resolution of 1.5 mm and a reconstruction accuracy of 0.3 mm.The accuracy of the proposed active shape reconstruction pipeline reaches 2.3 mm within 18 explorations.The proposed method has potential applications in the shape reconstruction of transparent or underwater objects.

关 键 词：Tactile sensing Visuotactile sensor Active shape reconstruction 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]