The limitations of rigid #ngertips in the precise and algorithmic study of manipulation have been discussedin many works, some dating back more than a decade. Despite that fact, much of the work in dexterous manipulation has continued to use the #point-contact" model for #nger-object interactions. In fact, most of the existing tactile sensing technologies are not adaptable to deformable #ngertips. In this work we report on experimental results obtained with a deformable tactile sensor whose properties are well-suited to manipulation. The results presented here show that the sensor described provides a rich set of tactile data. 1 Introduction In this work we describe a deformable image-based tactile sensor whose output is an approximation of the tactile surface itself. We present a set of basic tactile sensing experiments designed to demonstrate aspects of the sensor's performance. The ability of our sensor to deform while accurately localizing contact#s# makes it a promising tool fo..
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