GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation
Daniel Fernandes Gomes,Zhonglin Lin,Shan Luo,Daniel Fernandes Gomes,Zhonglin Lin,Shan Luo
Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a limited sensing area. In this paper, we propose a novel optical tactile sensor, the GelTip, that is shaped as a finger and can sense contacts on any location of its...
