Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear
Anupam K. Gupta,Alex Church,Nathan F. Lepora,Anupam K. Gupta,Alex Church,Nathan F. Lepora
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape reconstruction and exploration that require information about contact geometry. In this work, we pursue a semi-supervised approach to remove shear while preservi...
