Soft, round, high resolution tactile fingertip sensors for dexterous robotic manipulation
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 entir...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/147504 |