The paper discusses the development of a model-based method to estimate 3D force and contact for a soft-bubble visuotactile sensor. The method uses a finite element model of the force response from the sensor, requiring calibration of just three variables. Compared to other existing methods, this approach provides significantly more accurate reconstructions of normal and shear forces, with comparable accuracy for detecting the contact patch. The sensor’s internal RGBD camera and air pressure sensor are used to obtain the required data.
Publication date: 18 Oct 2023
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2310.11372
