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Abstract

An optical tactile sensing method is provided distinguishing having an optical tactile sensor and performing shape reconstruction and force measurement. The optical tactile sensor has an elastomeric hemisphere. A single camera captures the illumination of the entire reflective inner surface of the elastomeric hemisphere in a single input image. Shape reconstruction for a novel shape is performed while in contact with the hemisphere. Image pixels of a single sensor input image are inputted to a trained neural network, which outputs shape characteristics of the contact of the novel shape. With a continuous pattern on the elastomeric hemisphere, the optical tactile sensing method further distinguishes performing force reconstruction/estimation. Force reconstruction/estimation is performed through tracking deformation of the continuous pattern of the elastomeric hemisphere. Multiple sensor input images collected during the deformation are inputted to a trained neural network, which outputs force vector information of the contact of the novel shape.

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First Claim