3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM
Jing-Chen Peng,Shaoxiong Yao,Kris Hauser,Jing-Chen Peng,Shaoxiong Yao,Kris Hauser
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces directly from observing the bubble surface because local contacts change the global surface shape significantly due to membrane mechanics and air pressure. This paper presents a model-based method of reconstructing dense co...
