awesome-tactile-sensing
Collection of vision-based tactile sensing papers and blogposts
1 Survey papers
Overview of sensors in this table from the paper A soft thumb-sized vision-based sensor with accurate all-round force perception:
2 Sensor design papers and related github repositories
2.1 Gelsight and its variants
[0] Yuan, W.; Dong, S.; Adelson, E.H. GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force
[1] Elliott Donlon, Siyuan Dong, Melody Liu, Jianhua Li, Edward Adelson, Alberto Rodriguez GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger
GelSlim Webpage.
[2] Daolin Ma, Elliott Donlon, Siyuan Dong, Alberto Rodriguez Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM
[3] Ian Taylor, Siyuan Dong, Alberto Rodriguez GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger
[4] Shaoxiong Wang, Yu She, Branden Romero, Edward Adelson GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger
Related Github repos
- Neural Network based Marker Tracking. This a robust marker tracking project that outperforms the below one ( by the same author)
- Gelsight Marker Tracking
- GelSlim Fabrication and Software
- GelSlim heightmap reconstruction
- Gelsight heightmap reconstruction
Unofficial:
- Calibration of Osaka-produced GelSight
- Implementation of Gelsight Wedge
- GelSight ROS: This package implements a variety of processing techniques for GelSight sensors in ROS.
2.2 DIGIT
[0] Mike Lambeta, Po-Wei Chou, Stephen Tian, Brian Yang, Benjamin Maloon, Victoria Rose Most, Dave Stroud, Raymond Santos, Ahmad Byagowi, Gregg Kammerer, Dinesh Jayaraman, Roberto Calandra
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
Related Github repos
Unofficial:
- PatchGraph:In-hand tactile tracking with learned surface normals
- Touch Detection with Deep CNNs
- gazebo-yarp-digit-plugin
2.3 FingerVision
[0] Akihiko Yamaguchi FingerVision for Tactile Behaviors, Manipulation,and Haptic Feedback Teleoperation
[1] Akihiko Yamaguchi, Christopher G. Atkeson Tactile Behaviors with the Vision-Based Tactile Sensor FingerVision
FingerVision webpage
Related Github repos
2.4 ETH Zurich tactile sensor
[0] Carmelo Sferrazza, Raffaello D'Andrea Transfer learning for vision-based tactile sensing ⭐⭐⭐⭐⭐
2.5 GelTip
[0] Daniel Fernandes Gomes, Zhonglin Lin, Shan Luo GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation
Related Github repos
2.6 DelTact
[0] Guanlan Zhang, Yipai Du, Hongyu Yu, Michael Yu Wang. DelTact: A Vision-based Tactile Sensor Using Dense Color Pattern
2.7 OmniTact
[0] Akhil Padmanabha, Frederik Ebert, Stephen Tian, Roberto Calandra, Chelsea Finn, Sergey Levine OmniTact: A Multi-Directional High Resolution Touch Sensor
2.8 TacTip
[0] Nathan F. Lepora Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
2.9 Insight
[0] Huanbo Sun, Katherine J. Kuchenbecker, Georg Martius A soft thumb-sized vision-based sensor with accurate all-round force perception
3 Tactile sensing tasks
3.1 Touch Detection
[0] Julio Castano-Amoros,Pablo Gil, Santiago Puente Touch Detection with Low-cost Visual-based Sensor ⭐⭐⭐⭐⭐
[1] Mike Lambeta, Huazhe Xu, Jingwei Xu, Po-Wei Chou, Shaoxiong Wang, Trevor Darrell, Roberto Calandra PyTouch: A Machine Learning Library for Touch Processing. Check Section 4, Part A
3.2 Force Estimation
[0] C. Sferrazza, A. Wahlsten, C. Trueeb and R. D’Andrea, Ground Truth Force Distribution for Learning-Based Tactile Sensing: A Finite Element Approach.
[1] Daolin Ma*, Elliott Donlon*, Siyuan Dong, Alberto Rodriguez Dense Tactile Force Estimation using GelSlim and inverse FEM.
[2] Carmelo Sferrazza and Raffaello D’Andrea1 Transfer learning for vision-based tactile sensing.
[3] Wenzhen Yuan, Siyuan Dong, Edward H. Adelson GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force. Check Section 3.6 and 5.2 in the paper.
[4] Carmelo Sferrazza and Raffaello D’Andrea1 Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor.
Check Section 4.
3.3 2D&3D Pose Estimation
[0] Yu She,Shaoxiong Wang,Siyuan Dong,Neha Sunil,Alberto Rodriguez and Edward Adelson Cable Manipulation with a Tactile-Reactive Gripper. Check Section 4, Part B.
[1] Shaoxiong Wang, Yu She, Branden Romero, Edward Adelson GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger. Check Section 4, Part D.
[2] Tactile Pose Estimation algorithmg example by Facebook Research's Theseus
3.4 3D reconstruction
3.5 Slip detection
[0] Yazhan Zhang, Zicheng Kan,Yu Alexander Tse,Yang Yang, Michael Yu Wang
FingerVision Tactile Sensor Design and Slip Detection Using
Convolutional LSTM Network
[1] Mike Lambeta, Huazhe Xu, Jingwei Xu, Po-Wei Chou, Shaoxiong Wang, Trevor Darrell, Roberto Calandra PyTouch: A Machine Learning Library for Touch Processing. Check Section 4, Part D
[2] Jasper Wollaston James, Nathan F. Lepora Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand
3.6 Localization and Mapping
[0] Rui Li, Robert Platt Jr., Wenzhen Yuan*, Andreas ten Pas*, Nathan Roscup*, Mandayam A. Srinivasan, Edward Adelson Localization and Manipulation of Small Parts Using GelSight Tactile Sensing