Minsight: A Fingertip‐Sized Vision‐Based Tactile Sensor for Robotic Manipulation

摘要

Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans. Therefore, robotic manipulators need high‐resolution touch sensors that are compact, robust, inexpensive, and efficient. The soft vision‐based haptic sensor presented herein is a miniaturized and optimized version of the previously published sensor Insight. Minsight has the size and shape of a human fingertip and uses machine learning methods to output high‐resolution maps of 3D contact force vectors at 60 Hz. Experiments confirm its excellent sensing performance, with a mean absolute force error of 0.07 N and contact location error of 0.6 mm across its surface area. Minsight's utility is shown in two robotic tasks on a 3‐DoF manipulator. First, closed‐loop force control enables the robot to track the movements of a human finger based only on tactile data. Second, the informative value of the sensor output is shown by detecting whether a hard lump is embedded within a soft elastomer with an accuracy of 98%. These findings indicate that Minsight can give robots the detailed fingertip touch sensing needed for dexterous manipulation and physical human–robot interaction.