FingerVision Tactile Sensor Design and Slip Detection Using Convolutional LSTM Network

Understand

Tactile sensing is essential to the human perception system, so as to robot.

• In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms.
• This sensor is composed of soft skin with embedded marker array bonded to rigid frame, and a web camera with a fisheye lens.
• While being excited with contact force, the camera tracks the movements of markers and deformation field is obtained.