Abstract
Recently, visuotactile sensors have shown promising potential in robotics due to their high-resolution sensing ability. Unfortunately, the majority of available visuotactile sensors are limited to flat shapes, which severely limits their application possibilities. In this paper, we propose a novel curved visuotactile sensor, the GelStereo Palm, which senses the 3D contact geometry on a curved surface using a binocular vision system. Meanwhile, to solve the light refraction problem in the binocular stereo vision system under a curved medium, a Refractive Stereo Ray Tracing model for GelStereo Palm (GP-RSRT) is presented. Moreover, a 3D tactile point cloud sensing pipeline is introduced to reconstruct the 3D contact geometry in real-time. Finally, extensive experiments are conducted to verify the accuracy and robustness of the 3D contact geometry sensing of our GelStereo Palm sensor.
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