Exploring Proximity and Tactile Sensing for Robotic Manipulation
Overview
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.
Generated from attributed reports · Updated 1 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
No current evidence-backed claims. Missing information remains not reported.
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalExploring 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.
Event coverage history
There is not enough continuous observation data to show a trend.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).