Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution

Understand

The importance of force perception in interacting with the environment was proven years ago.

• However, it is still a challenge to measure the contact force distribution accurately in real-time.
• In order to break through this predicament, we propose a new vision-based tactile sensor, the Tac3D sensor, for measuring the three-dimensional contact surface shape and contact force distribution.
• In this work, virtual binocular vision is first applied to the tactile sensor, which allows the Tac3D sensor to measure the three-dimensional tactile information in a simple and efficient way and has the advantages of simple structure, low computational costs, and inexpensive.