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Models of previous and current integrated tactile sensors (from left to right): GelSight [2], GelSlim 2.0 [4], GelSlim MPalm [5], and GelSlim 3.0.

Models of previous and current integrated tactile sensors (from left to right): GelSight [2], GelSlim 2.0 [4], GelSlim MPalm [5], and GelSlim 3.0.

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Fig. 1. (a) GelSlim 3.0 sensors grasping a chess rook and the...
Fig. 2. Models of previous and current integrated tactile sensors (from...
Fig. 3. Exploded diagram of the GelSlim 3.0 tactile finger and its 10...
Fig. 4. Diagram of the hybrid swept spline lens with optimization...
+4 Fig. 5. Heat-maps of the simulated radiant flux across the surface of...
GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger
Preprint
Full-text available
  • Mar 2021
This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered bin-picking scenarios. The novel design incorporates the capability to use real-time analytic methods to measure shape...
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