GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

Abstract

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques (Johnson and Adelson 2009), features an integration that is slimmer, more robust, and with more homogeneous output than previous vision-based tactile sensors. To achieve a compact integration, we redesign the optical path from illumination source to camera by combining light guides and an arrangement of mirror reflections. We parameterize the optical path with geometric design variables and describe the tradeoffs between the finger thickness, camera depth of field, and size of the tactile sensing area. The sensor sustains the wear from continuous use - and abuse - in grasping tasks by combining tougher materials for the compliant gel, a textured fabric skin, a structurally rigid body, and a calibration process that maintains homogeneous illumination and contrast of the tactile images during use. Finally, we evaluate the sensor's durability along four metrics that track the signal quality during more than 3000 grasping experiments. Keywords: Tactile sensors; Cameras; Three-dimensional displays; Grasping