PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866911400678391808 |
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| author | Zhang, Ruohan Yoo, Uksang Li, Yichen Agarwal, Arpit Yuan, Wenzhen |
| author_facet | Zhang, Ruohan Yoo, Uksang Li, Yichen Agarwal, Arpit Yuan, Wenzhen |
| contents | Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and proprioception. Our work presents a novel vision-based approach for sensorizing soft robots. We demonstrate our approach on PneuGelSight, a pioneering pneumatic manipulator featuring high-resolution proprioception and tactile sensing via an embedded camera. To optimize the sensor's performance, we introduce a comprehensive pipeline that accurately simulates its optical and dynamic properties, facilitating a zero-shot knowledge transition from simulation to real-world applications. PneuGelSight and our sim-to-real pipeline provide a novel, easily implementable, and robust sensing methodology for soft robots, paving the way for the development of more advanced soft robots with enhanced sensory capabilities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_18443 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing Zhang, Ruohan Yoo, Uksang Li, Yichen Agarwal, Arpit Yuan, Wenzhen Robotics Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and proprioception. Our work presents a novel vision-based approach for sensorizing soft robots. We demonstrate our approach on PneuGelSight, a pioneering pneumatic manipulator featuring high-resolution proprioception and tactile sensing via an embedded camera. To optimize the sensor's performance, we introduce a comprehensive pipeline that accurately simulates its optical and dynamic properties, facilitating a zero-shot knowledge transition from simulation to real-world applications. PneuGelSight and our sim-to-real pipeline provide a novel, easily implementable, and robust sensing methodology for soft robots, paving the way for the development of more advanced soft robots with enhanced sensory capabilities. |
| title | PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.18443 |