Exploring Proximity and Tactile Sensing for Robotic Manipulation
Exploring Proximity and Tactile Sensing for Robotic Manipulation
This paper introduces ToFTouch, a multimodal tactile sensor combining multizone time-of-flight sensors with an optics-based pressure sensing array mounted on a parallel jaw gripper. The authors demonstrate its utility in three tasks: pre-grasp adjustment, item extraction from clutter, and item insertion into tight spaces. For pre-grasp adjustment, ToF feedback reduced cycle time by 7.4% by enabling anticipatory gripper closure. For extraction, the sensor enabled successful retrieval across depth offsets of ±2 cm with standard deviations below 0.4 cm, outperforming baseline approaches in certain conditions. The results highlight the utility of multizone ToF sensing in manipulation environments.
The study presents a multimodal tactile sensor integrating time-of-flight and pressure sensing to improve robotic manipulation tasks, with reported cycle time reductions and successful extraction across depth offsets.
Source: arXiv Robotics — research abstracts · Read original article ↗
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g array. We mount this sensor on a parallel jaw gripper and demonstrate its utility on three distinct tasks: (i) pre-grasp adjustment, (ii) item extraction from clutter, and (iii) item insertion into tight spaces. For pre-grasp adjustment, ToF feedback reduced cycle time by 7.4$\%$ by enabling anticipatory gripper closure during approach. For extraction, ToF sensing enabled successful retrieval across all tested dept
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Source：arXiv Robotics — research abstracts · arxiv.org