Tactile Sensing

Render of the slip-detection teststand with linear actuator and sensor stack

Visuo-Tactile Slip Detection for Teleoperated Manipulation

Master’s research at TU Darmstadt: a multi-sensor teststand and neural networks for detecting and regressing slip in robotic grippers.

Franka robot arm drawing with a pen mounted through a visuo-tactile sensor

Tool Contact Force Estimation for Robot Drawing

A pen mounted on a Franka arm through a visuo-tactile sensor; computer-vision algorithms estimate the contact force at the pen tip.

Raw GelSight capture of a Euro coin surface

3D Scanning and Measuring with Visuo-Tactile Sensors

3D point clouds and surface stitching from GelSight Mini tactile captures: reconstructing coin surfaces by touch alone.