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Important research papers, blogposts, repos on tactile sensing ( vision-based)

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Please check for more recent list at a similar repo by Awesome-Touch. I will probably not update this list from now on.

awesome-tactile-sensing

Collection of vision-based tactile sensing papers and blogposts


1 Survey papers

Overview of sensors in this table from the paper A soft thumb-sized vision-based sensor with accurate all-round force perception:
Overview

2 Sensor design papers and related github repositories

2.1 Gelsight and its variants

[0] Yuan, W.; Dong, S.; Adelson, E.H.

GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force ⭐⭐⭐

[1] Elliott Donlon, Siyuan Dong, Melody Liu, Jianhua Li, Edward Adelson, Alberto Rodriguez

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

[2] Daolin Ma, Elliott Donlon, Siyuan Dong, Alberto Rodriguez

Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM ⭐⭐⭐

[3] Ian Taylor, Siyuan Dong, Alberto Rodriguez

GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger ⭐⭐⭐

[4] Shaoxiong Wang, Yu She, Branden Romero, Edward Adelson

GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger ⭐⭐⭐

**[5] ** Sandra Q. Liu and Edward H. Adelson. GelSight Fin Ray: Incorporating Tactile Sensing into a Soft Compliant Robotic Gripper ⭐⭐⭐

Related Github repos

Unofficial:

2.2 DIGIT

[0] Mike Lambeta, Po-Wei Chou, Stephen Tian, Brian Yang, Benjamin Maloon, Victoria Rose Most, Dave Stroud, Raymond Santos, Ahmad Byagowi, Gregg Kammerer, Dinesh Jayaraman, Roberto Calandra

DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation ⭐⭐⭐

Related Github repos

Unofficial:

2.3 FingerVision

[0] Akihiko Yamaguchi FingerVision for Tactile Behaviors, Manipulation,and Haptic Feedback Teleoperation ⭐⭐⭐

[1] Akihiko Yamaguchi, Christopher G. Atkeson Tactile Behaviors with the Vision-Based Tactile Sensor FingerVision
FingerVision webpage

Related Github repos

2.4 ETH Zurich tactile sensor

[0] Carmelo Sferrazza, Raffaello D'Andrea Transfer learning for vision-based tactile sensing ⭐⭐⭐

2.5 GelTip

[0] Daniel Fernandes Gomes, Zhonglin Lin, Shan Luo GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation ⭐⭐⭐

Related Github repos

2.6 DelTact

[0] Guanlan Zhang, Yipai Du, Hongyu Yu, Michael Yu Wang. DelTact: A Vision-based Tactile Sensor Using Dense Color Pattern ⭐⭐⭐

2.7 OmniTact

[0] Akhil Padmanabha, Frederik Ebert, Stephen Tian, Roberto Calandra, Chelsea Finn, Sergey Levine

OmniTact: A Multi-Directional High Resolution Touch Sensor ⭐⭐⭐

2.8 TacTip

[0] Nathan F. Lepora Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review

2.9 Insight

[0] Huanbo Sun, Katherine J. Kuchenbecker, Georg Martius A soft thumb-sized vision-based sensor with accurate all-round force perception ⭐⭐⭐

3 Tactile sensing tasks

3.1 Touch Detection

[0] Julio Castano-Amoros,Pablo Gil, Santiago Puente Touch Detection with Low-cost Visual-based Sensor ⭐⭐⭐

[1] Mike Lambeta, Huazhe Xu, Jingwei Xu, Po-Wei Chou, Shaoxiong Wang, Trevor Darrell, Roberto Calandra PyTouch: A Machine Learning Library for Touch Processing. Check Section 4, Part A

3.2 Force Estimation

[0] C. Sferrazza, A. Wahlsten, C. Trueeb and R. D’Andrea, Ground Truth Force Distribution for Learning-Based Tactile Sensing: A Finite Element Approach.

[1] Daolin Ma*, Elliott Donlon*, Siyuan Dong, Alberto Rodriguez Dense Tactile Force Estimation using GelSlim and inverse FEM.

[2] Carmelo Sferrazza and Raffaello D’Andrea1 Transfer learning for vision-based tactile sensing.

[3] Wenzhen Yuan, Siyuan Dong, Edward H. Adelson GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force. Check Section 3.6 and 5.2 in the paper.

[4] Carmelo Sferrazza and Raffaello D’Andrea1

Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor.
Check Section 4.

3.3 2D&3D Pose Estimation

[0] Yu She,Shaoxiong Wang,Siyuan Dong,Neha Sunil,Alberto Rodriguez and Edward Adelson Cable Manipulation with a Tactile-Reactive Gripper. Check Section 4, Part B.

[1] Shaoxiong Wang, Yu She, Branden Romero, Edward Adelson

GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger. Check Section 4, Part D.
[2] Sandra Q. Liu and Edward H. Adelson. GelSight Fin Ray: Incorporating Tactile Sensing into a Soft Compliant Robotic Gripper

[3] Tactile Pose Estimation algorithm example by Facebook Research's Theseus

3.4 3D reconstruction

3.5 Slip detection

[0] Yazhan Zhang, Zicheng Kan,Yu Alexander Tse,Yang Yang, Michael Yu Wang
FingerVision Tactile Sensor Design and Slip Detection Using Convolutional LSTM Network

[1] Mike Lambeta, Huazhe Xu, Jingwei Xu, Po-Wei Chou, Shaoxiong Wang, Trevor Darrell, Roberto Calandra PyTouch: A Machine Learning Library for Touch Processing. Check Section 4, Part D

[2] Jasper Wollaston James, Nathan F. Lepora Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand

3.6 Localization and Mapping

[0] Rui Li, Robert Platt Jr., Wenzhen Yuan*, Andreas ten Pas*, Nathan Roscup*, Mandayam A. Srinivasan, Edward Adelson

Localization and Manipulation of Small Parts Using GelSight Tactile Sensing

3.7 Object Hardness Estimation

[0] W. Yuan, M. A. Srinivasan and E. H. Adelson

Estimating object hardness with a GelSight touch sensor

[1] Wenzhen Yuan,Chenzhuo Zhu,Andrew Owens,Mandayam A. Srinivasan and Edward H. Adelson

Shape-independent Hardness Estimation Using Deep Learning and a Gelsight Tactile Sensor

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