Design of a Multimodal Fingertip Sensor for Dynamic Manipulation
Andrew SaLoutos,Elijah Stanger-Jones,Menglong Guo,Hongmin Kim,Sangbae Kim,Andrew SaLoutos,Elijah Stanger-Jones,Menglong Guo,Hongmin Kim,Sangbae Kim
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to estimate the contact location and three-axis contact forces based on data from the pressure sensors, which are embedded within the sensor's sphere of polyurethane r...
