The paper introduces a design for Acoustic Soft Tactile (AST) Skin aimed at improving the precision of 2-D tactile feature estimation. The design utilizes acoustic energy through dedicated channels beneath the sensing surface and analyzes amplitude modulation to decode interactions on the sensory surface. This results in a more accurate tactile feature estimation. The skin design is modular and highly customizable, making it a practical and cost-effective solution for robotic applications. It has proven effective in practical tests, showing remarkable precision in estimating contact normal forces, 2D contact localisation, and contact surface diameter.
Publication date: 26 Jan 2024
Project Page: Unavailable
Paper: https://arxiv.org/pdf/2401.14292
