GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910041228967936 |
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| author | Kohlbrenner, Carson Escobedo, Caleb Bae, S. Sandra Dickhans, Alexander Roncone, Alessandro |
| author_facet | Kohlbrenner, Carson Escobedo, Caleb Bae, S. Sandra Dickhans, Alexander Roncone, Alessandro |
| contents | Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape and the unique demands of its operational context. In this work, we introduce GenTact Toolbox, a computational pipeline for creating versatile whole-body tactile skins tailored to both robot shape and application domain. Our method includes procedural mesh generation for conforming to a robot's topology, task-driven simulation to refine sensor distribution, and multi-material 3D printing for shape-agnostic fabrication. We validate our approach by creating and deploying six capacitive sensing skins on a Franka Research 3 robot arm in a human-robot interaction scenario. This work represents a shift from "one-size-fits-all" tactile sensors toward context-driven, highly adaptable designs that can be customized for a wide range of robotic systems and applications. The project website is available at https://hiro-group.ronc.one/gentacttoolbox |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_00711 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins Kohlbrenner, Carson Escobedo, Caleb Bae, S. Sandra Dickhans, Alexander Roncone, Alessandro Robotics Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape and the unique demands of its operational context. In this work, we introduce GenTact Toolbox, a computational pipeline for creating versatile whole-body tactile skins tailored to both robot shape and application domain. Our method includes procedural mesh generation for conforming to a robot's topology, task-driven simulation to refine sensor distribution, and multi-material 3D printing for shape-agnostic fabrication. We validate our approach by creating and deploying six capacitive sensing skins on a Franka Research 3 robot arm in a human-robot interaction scenario. This work represents a shift from "one-size-fits-all" tactile sensors toward context-driven, highly adaptable designs that can be customized for a wide range of robotic systems and applications. The project website is available at https://hiro-group.ronc.one/gentacttoolbox |
| title | GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.00711 |