AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915258328678400 |
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| author | Liang, Siwei Guan, Yixuan Xu, Jing Qian, Hongyu Zhang, Xiangjun Wu, Dan Ding, Wenbo Chen, Rui |
| author_facet | Liang, Siwei Guan, Yixuan Xu, Jing Qian, Hongyu Zhang, Xiangjun Wu, Dan Ding, Wenbo Chen, Rui |
| contents | Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with omni-directional and local tactile sensing capabilities. The finger body is unibody-casted using transparent elastic silicone, and a camera positioned at the base of the finger captures the deformation of the whole body and the contact face. Due to the global deformation of the adaptive structure, existing vision-based tactile sensing approaches that assume constant illumination are no longer applicable. To address this, we propose a novel sensing method where the global deformation is first reconstructed from the image using edge features and spatial constraints. Then, detailed contact geometry is computed from the brightness difference against a dynamically retrieved reference image. Extensive experiments validate the effectiveness of our proposed gripper design and sensing method in contact detection, force estimation, object grasping, and precise manipulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_18064 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing Liang, Siwei Guan, Yixuan Xu, Jing Qian, Hongyu Zhang, Xiangjun Wu, Dan Ding, Wenbo Chen, Rui Robotics Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with omni-directional and local tactile sensing capabilities. The finger body is unibody-casted using transparent elastic silicone, and a camera positioned at the base of the finger captures the deformation of the whole body and the contact face. Due to the global deformation of the adaptive structure, existing vision-based tactile sensing approaches that assume constant illumination are no longer applicable. To address this, we propose a novel sensing method where the global deformation is first reconstructed from the image using edge features and spatial constraints. Then, detailed contact geometry is computed from the brightness difference against a dynamically retrieved reference image. Extensive experiments validate the effectiveness of our proposed gripper design and sensing method in contact detection, force estimation, object grasping, and precise manipulation. |
| title | AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.18064 |