2026-09-19T23:52:19Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1475042023-01-20T03:39:13Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Adelson, Edward H.
Romero, Branden Robert
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2023-01-19T19:54:43Z
2023-01-19T19:54:43Z
2022-09
2022-10-19T18:58:33.487Z
https://hdl.handle.net/1721.1/147504
In this work we introduce a non-planar soft high-resolution tactile sensor. An iteration of the GelSight sensors, it enables future GelSights to have more complicated form factors, such as a humanoid fingertip. To do this we introduce a novel method for achieving directional lighting along the entirety of a curved sensor using light piping. Light piping uses total internal reflection and a semi-specular membrane to constrain the path of the light inside the sensor until the sensing membrane is deformed. By using this new membrane and changing the geometry, we introduce a new bidirectional reflectance distribution function and new optics. This require new calibration procedures in the form of developing a fisheye projection model, and developing a neighborhood and location based continuous look-up table to map the relationship between RGB value and surface normal orientation of the membrane at a point. Finally we perform two dexterous manipulation task with feedback from the sensors in the form of controlled rolling of an object on a support surface, and lid removal off a jar. We also give instructions on how to manufacture the sensor as well as increasing the durability of the membrane for all GelSight sensors.
S.M.
Massachusetts Institute of Technology
In Copyright - Educational Use Permitted
Copyright MIT
http://rightsstatements.org/page/InC-EDU/1.0/
Soft, round, high resolution tactile fingertip sensors for dexterous robotic manipulation
Thesis
application/pdf
Master
Master of Science in Electrical Engineering and Computer Science
Publication
unknown
unknown
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<Abstract>In this work we introduce a non-planar soft high-resolution tactile sensor. An iteration of the GelSight sensors, it enables future GelSights to have more complicated form factors, such as a humanoid fingertip. To do this we introduce a novel method for achieving directional lighting along the entirety of a curved sensor using light piping. Light piping uses total internal reflection and a semi-specular membrane to constrain the path of the light inside the sensor until the sensing membrane is deformed. By using this new membrane and changing the geometry, we introduce a new bidirectional reflectance distribution function and new optics. This require new calibration procedures in the form of developing a fisheye projection model, and developing a neighborhood and location based continuous look-up table to map the relationship between RGB value and surface normal orientation of the membrane at a point. Finally we perform two dexterous manipulation task with feedback from the sensors in the form of controlled rolling of an object on a support surface, and lid removal off a jar. We also give instructions on how to manufacture the sensor as well as increasing the durability of the membrane for all GelSight sensors.</Abstract>
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