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Interpreting and Predicting Tactile Signals for the SynTouch BioTac [article]

Yashraj S. Narang and Balakumar Sundaralingam and Karl Van Wyk and Arsalan Mousavian and Dieter Fox
2021 arXiv   pre-print
In contrast, robotic tactile sensors, including the state-of-the-art SynTouch BioTac, are typically used to provide low-density contact information, such as contact location, center of pressure, and net  ...  The high-density data streams can provide a far greater quantity of interpretable information for grasping and manipulation algorithms than previously accessible.  ...  CAD models and preliminary mechanical data on the BioTac skin; Miles Macklin of NVIDIA for feedback on finite element modeling; and the RSS reviewers for helpful comments.  ... 
arXiv:2101.05452v1 fatcat:p4lzo2kpybcwnhedua5kqybvuq

Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework [article]

Yashraj S. Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
2020 arXiv   pre-print
Although useful, this data does not exploit the rich information content that some tactile sensors (e.g., the SynTouch BioTac) naturally provide.  ...  element (FE) model of the BioTac, which complements the experimental dataset with high-resolution, distributed contact data, and 3) neural-network-based mappings from raw BioTac signals to low-dimensional  ...  providing BioTac CAD models and preliminary mechanical data on the rubber skin; and Balakumar Sundaralingam for providing data from his previous analyses.  ... 
arXiv:2006.03777v1 fatcat:2isf44sgffdz7aj664ry3gvn3i

Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections [article]

Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
2021 arXiv   pre-print
This work contributes an efficient, freely-accessible FEM model of the BioTac and comprises one of the first efforts to combine self-supervision, cross-modal transfer, and sim-to-real transfer for tactile  ...  Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion.  ...  Guo, and A. Bakshi for their collaboration with Isaac Gym, as well as K. Van Wyk, A. Handa, and T. Hermans for their feedback.  ... 
arXiv:2103.16747v1 fatcat:pp4n544m2fdqhj33buyik5cs44

Use of tactile feedback to control exploratory movements to characterize object compliance

Zhe Su, Jeremy A. Fishel, Tomonori Yamamoto, Gerald E. Loeb
2012 Frontiers in Neurorobotics  
We developed similar exploratory and perceptual algorithms for a mechatronic robotic system (Barrett arm/hand system) equipped with liquid-filled, biomimetic tactile sensors (BioTac ® from SynTouch LLC  ...  surface of the rigid core of the BioTac.  ...  Figure 4 shows the actual forces (blue) measured from force plate and the predicted force vectors (red) extracted from BioTac by manually pressing and sliding the BioTac on the force plate.  ... 
doi:10.3389/fnbot.2012.00007 pmid:22855676 pmcid:PMC3405524 fatcat:lwr42vainfgnpbzrd2pjbeii74

Non-Matrix Tactile Sensors: How Can Be Exploited Their Local Connectivity For Predicting Grasp Stability? [article]

Brayan S. Zapata-Impata, Fernando Torres Automatics, Robotics and Artificial Vision Research Group, Dept. of Physics, System Engineering and Signal Theory, University of Alicante, Spain, Computer Science Research Institute, University of Alicante, Spain)
2018 arXiv   pre-print
Most of the previous works on this topic processed tactile readings as signals by calculating hand-picked features.  ...  Tactile sensors supply useful information during the interaction with an object that can be used for assessing the stability of a grasp.  ...  METHODOLOGY The BioTac SP are a set of tactile sensors developed by SynTouch. They have more electrodes than the previous version and the circuits are integrated in just a single phalanx.  ... 
arXiv:1809.05551v1 fatcat:t2obhpuiendrdpi4n3vnpkj7se

Extended Tactile Perception: Vibration Sensing through Tools and Grasped Objects [article]

Tasbolat Taunyazov, Luar Shui Song, Eugene Lim, Hian Hian See, David Lee, Benjamin C.K. Tee, Harold Soh
2021 arXiv   pre-print
This paper reports on extensive experiments using the BioTac micro-vibration sensor and a new event dynamic sensor, the NUSkin, capable of multi-taxel sensing at 4~kHz.  ...  Taken together, our results provides both evidence and guidelines for using vibro-tactile perception to extend tactile perception, which we believe will lead to enhanced competency with tools and better  ...  ACKNOWLEDGEMENTS This work was supported by the SERC, A*STAR, Singapore, through the National Robotics Program under Grant No. W2025d0244. B.C.K.  ... 
arXiv:2106.00489v2 fatcat:g5ilhmnotnekjkvt45tlcb7bde

The finishing touches: the role of friction and roughness in haptic perception of surface coatings

Lisa Skedung, Kathryn L. Harris, Elizabeth S. Collier, Mark W. Rutland
2020 Experimental Brain Research  
for tactile differentiation and preferences of these surface treatments.  ...  The chemical and mechanical properties of these surfaces are translated into tactile signals during haptic exploration by mechanoreceptors in our skin, which are specialized to respond to different types  ...  The authors would like to thank Maria Rådsten Ekman and Annika Lindström for their assistance with data collection. This work was funded by IKEA of Sweden AB and Akzo Nobel Coatings International B.V.  ... 
doi:10.1007/s00221-020-05831-w pmid:32447410 fatcat:kj6rf2ge65afvc2xnb6os2wx2e

Tactile-Driven Grasp Stability and Slip Prediction

Brayan S. Zapata-Impata, Pablo Gil, Fernando Torres
2019 Robotics  
In this work, we present and compare different methodologies based on deep learning in order to represent and process tactile data for both stability and slip prediction.  ...  The use of tactile data is essential to check such conditions and, therefore, predict the stability of a grasp.  ...  Tactile Sensor BioTac (BioTac R from SynTouch Inc., Montrose, CA, USA) is a biomimetic tactile sensor inspired in the human sense of touch and its size is similar to the human fingertip [41] .  ... 
doi:10.3390/robotics8040085 fatcat:kstfa4gdyran7oupcysxvkohha

TactileGCN: A Graph Convolutional Network for Predicting Grasp Stability with Tactile Sensors

Alberto Garcia-Garcia, Brayan S. Zapata-Impata, Sergio Orts-Escolano, Pablo Gil, Jose Garcia-Rodriguez
2019 2019 International Joint Conference on Neural Networks (IJCNN)  
To train such network and prove its predictive capabilities for the problem at hand, we captured a novel dataset of ∼ 5000 three-fingered grasps across 41 objects for training and 1000 grasps with 10 unknown  ...  of the sensor's taxels and their locality.  ...  This work has been funded by the Spanish Government with Feder funds (TIN2016-76515-R and DPI2015-68087-R), by two grants for PhD studies (FPU15/04516 and BES-2016-07829), by regional projects (GV/2018  ... 
doi:10.1109/ijcnn.2019.8851984 dblp:conf/ijcnn/Garcia-GarciaZO19 fatcat:3kk7vms5szba5gq35q7fbmr6w4

Using robotic exploratory procedures to learn the meaning of haptic adjectives

Vivian Chu, Ian McMahon, Lorenzo Riano, Craig G. McDonald, Qin He, Jorge Martinez Perez-Tejada, Michael Arrigo, Naomi Fitter, John C. Nappo, Trevor Darrell, Katherine J. Kuchenbecker
2013 2013 IEEE International Conference on Robotics and Automation  
By equipping the PR2 humanoid robot with state-ofthe-art biomimetic tactile sensors that measure temperature, pressure, and fingertip deformations, we created a platform uniquely capable of feeling the  ...  We present both static and dynamic learning methods to discover the meaning of these adjectives from the labeled objects, achieving average F1 scores of 0.57 and 0.79 on a set of eight previously unfelt  ...  The SynTouch BioTac hand board is mounted at the base of the gripper, and each BioTac board is mounted on the outside surface of its respective finger.  ... 
doi:10.1109/icra.2013.6631000 dblp:conf/icra/ChuMRMHPAFNDK13 fatcat:l5l3m2z2u5crvcblsdwjgy4zte

TactileGCN: A Graph Convolutional Network for Predicting Grasp Stability with Tactile Sensors [article]

Alberto Garcia-Garcia, Brayan Stiven Zapata-Impata, Sergio Orts-Escolano, Pablo Gil, Jose Garcia-Rodriguez
2019 arXiv   pre-print
To train such network and prove its predictive capabilities for the problem at hand, we captured a novel dataset of approximately 5000 three-fingered grasps across 41 objects for training and 1000 grasps  ...  of the sensor's taxels and their locality.  ...  Robotic Set Up In this work, we use the BioTac SP tactile sensors developed by Syntouch [20] . The sensor provides three different sensory modalities: force, pressure, and temperature.  ... 
arXiv:1901.06181v1 fatcat:tlz222j4lffkdjp7nzd3iafuea

Slip classification for dynamic tactile array sensors

Barrett Heyneman, Mark R. Cutkosky
2015 The international journal of robotics research  
The performance and generalizability of the features are verified with testing on three different kinds of sensors and for a range of object textures, grasp forces and slip conditions.  ...  In comparison to approaches that require extensive training with particular combinations of objects and skin, the features work for a wide range of frequencies and grasp conditions.  ...  Acknowledgments This work has been supported in part by the DARPA ARM-H project with additional support from ARL MAST.  ... 
doi:10.1177/0278364914564703 fatcat:u5hbqk6opnbbtfkxgpajejkn64

Grip Stabilization through Independent Finger Tactile Feedback Control

Filipe Veiga, Benoni Edin, Jan Peters
2020 Sensors  
Local slip is predicted from the tactile signals of each fingertip sensor i.e., BioTac and BioTac SP by Syntouch.  ...  and the gripped object in order to compute the necessary forces to be applied by each finger.  ...  This may include administrative and technical support, or donations in kind (e.g., materials used for experiments). Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s20061748 pmid:32245193 fatcat:nlpndn2rvzdq7hbumbhizrovfy

Bayesian Exploration for Intelligent Identification of Textures

Jeremy A. Fishel, Gerald E. Loeb
2012 Frontiers in Neurorobotics  
In order to endow robots with human-like abilities to characterize and identify objects, they must be provided with tactile sensors and intelligent algorithms to select, control, and interpret data from  ...  Using a testbed equipped with a biologically inspired tactile sensor (the BioTac), we produced sliding movements similar to those that humans make when exploring textures.  ...  ACKNOWLEDGMENTS The authors would like to thank Raymond Peck for fabrication of the BioTac sensors and apparatus used in these tests and Michelle Willie and Lee Ann Lumilan for preparation of the texture  ... 
doi:10.3389/fnbot.2012.00004 pmid:22783186 pmcid:PMC3389458 fatcat:opwucvjyxzgtbmyuktd3ccxcua

Learning Spatio Temporal Tactile Features with a ConvLSTM for the Direction Of Slip Detection

Brayan Zapata-Impata, Pablo Gil, Fernando Torres
2019 Sensors  
In this work, we propose a learning methodology for detecting the direction of a slip (seven categories) using spatio-temporal tactile features learnt from one tactile sensor.  ...  Tactile readings are, therefore, pre-processed and fed to a ConvLSTM that learns to detect these directions with just 50 ms of data.  ...  Methodology Tactile Sensor and Data Processing The tactile sensor used in this work is the BioTac SP [24], manufactured by Syntouch.  ... 
doi:10.3390/s19030523 fatcat:shhg35fpbnbghhsxl3fxqgpy5u
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