부산대학교 도서관

This paper introduces and develops novel touch sensing technologies that enable robots to better sense and react to to intermittent contact interactions. We present Finger-STS, a robotic finger embodiment of the See-Through-your-Skin (STS) sensor that can capture 1) an “in the hand” visual perspective of an object that is being manipulated and 2) a high resolution tactile imprint of the contact geometry. We demonstrate the value of the sensor on a Bead Maze task. Here the multimodal feedback provided by the Finger-STS is leveraged by a robot to locate a bead visually and to guide it across a wire in response to tactile cues, with no additional sensing or planning required. To achieve this, we introduce a set of relevant visuotactile operations using computer vision-based algorithms. In particular, we sense the proximity of the object relative to the sensor as well as the nature of contact as a high resolution stick/slip vector field tracking the object motion in the finger.