DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces
Won Kyung Do,Ankush Kundan Dhawan,Mathilda Kitzmann,Monroe Kennedy,Won Kyung Do,Ankush Kundan Dhawan,Mathilda Kitzmann,Monroe Kennedy
Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design equipped with a synthetic fingernail. We propose three distinct grasping strategies: tap grasping using adhesion forces such as electrostatic and van der Waals, fi...
