Core Concepts
Enhancing teleoperation with haptic feedback using vision-based tactile sensors for delicate object manipulation.
Abstract
The content discusses a teleoperation framework that provides haptic feedback to human operators based on data from camera-based tactile sensors mounted on robot grippers. The framework aims to enable delicate manipulation of objects using low-cost hardware, demonstrating versatility on various objects. It introduces partial autonomy to prevent slippage during tasks and offers source code for reproducibility. The study includes related work, problem statement, method overview, experimental results, and conclusions.
Structure:
Introduction to Tactile Sensors in Robotics
Proposed Teleoperation Framework: T2H Algorithm
Mapping from Tactile Sensors to Haptic Feedback
Mapping from Controller to Robot Commands
Partial Autonomy for Slippage Prevention
Experimental Results and Usability Testing
Stats
"We demonstrate the versatility of the framework on nine different objects ranging from rigid to soft and fragile ones."
"Our contributions are: A novel T2H teleoperation framework deployable on low-cost hardware that translates tactile sensor readings into haptic vibration feedback."
Quotes
"A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically."
"Our framework aims to fill this need by providing an easy-to-deploy way for teleoperating a Franka Panda manipulator."