PanoTac: A Dense Three-Axis Tactile Sensor for Robust Touch-Centric Manipulation
PanoTac: A Dense Three-Axis Tactile Sensor for Robust Touch-Centric Manipulation
This paper introduces PanoTac, a low-cost compliant tactile fingertip sensor designed for dense three-axis sensing. Each fingertip provides a 12x32x3 tactile representation with normal and shear response components at each taxel, operating at 60 Hz for under $50 per unit. When integrated into a robotic system with a visuo-tactile pipeline, the resulting policies outperform vision-only baselines by an average of 46.7 percentage points on tasks such as grain scooping and salt pouring. Ablation studies demonstrate that removing either spatial contact information or shear feedback reduces overall performance across the task suite.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
arXiv:2611.03520v1 Announce Type: new Abstract: Contact-rich manipulation benefits from tactile feedback that captures both detailed contact geometry and interaction forces. When scooping grains, contact patterns help infer spoon orientation, while resistance transmitted through the grasp guides motion. To provide these complementary sensing capabilities, we present PanoTac, a low-cost, compliant tactile fingertip de
Open source S2
signed for dense three-axis tactile sensing. Each fingertip provides a $12 \times 32 \times 3$ tactile representation, with one normal ($z$) and two shear ($x$, $y$) response components at each taxel. The sensor operates at 60 Hz and costs less than $50 per fingertip. Sensor characterization quantifies response repeatability and consistency across sensor instances and contact locations. We integrate PanoTac into a ro
Open source S3
botic system with a visuo-tactile pipeline. Across test-tube preparation, grain scooping, and salt pouring, the resulting policies outperform vision-only baselines by an average of 46.7 percentage points. Ablations show that removing either spatial contact information or shear feedback reduces overall performance across the task suite. Our project page is available at https://panotac.github.io.
Open source S4
PanoTac: A Dense Three-Axis Tactile Sensor for Robust Touch-Centric Manipulation
Open source S1
Source：arXiv Robotics — research abstracts · arxiv.org