首页|Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors

Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors

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  • NETL
  • NSTL
  • IEEE
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniature cameras. The associated field of view and focal length, however, are difficult to package in a human-sized finger. In this article we employ optical fiber bundles to achieve a form factor that, at 15 mm diameter, is smaller than an average human fingertip. The electronics and camera are also located remotely, further reducing package size. The sensor achieves a spatial resolution of 0.22 mm and a minimum force resolution 5 mN for normal and shear contact forces. With these attributes, the DIGIT Pinki sensor is suitable for applications such as robotic and teleoperated digital palpation. We demonstrate its utility for palpation of the prostate gland and show that it can achieve clinically relevant discrimination of prostate stiffness for phantom and ex vivo tissue.

Robot sensing systemsOptical fibersOptical fiber sensorsCamerasTactile sensorsRobotsElastomersLightingOptical imagingSpatial resolution

Julia Di、Zdravko Dugonjic、Will Fu、Tingfan Wu、Romeo Mercado、Kevin Sawyer、Victoria Rose Most、Gregg Kammerer、Stefanie Speidel、Richard E. Fan、Geoffrey Sonn、Mark R. Cutkosky、Mike Lambeta、Roberto Calandra

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Stanford University, Stanford, CA, USA|Meta, Menlo Park, CA, USA

LASR Lab, Technische Universität Dresden, Dresden, Germany|School of Embedded and Composite AI (SECAI), Dresden, Germany

Stanford University, Stanford, CA, USA

Meta, Menlo Park, CA, USA

School of Embedded and Composite AI (SECAI), Germany|National Center for Tumor Diseases (NCT/UCC) Dresden, Dresden, Germany|Centre for Tactile Internet with Human-in-the-Loop (CeTI), Germany

Meta, Menlo Park, CA, USA|LASR Lab, Technische Universität Dresden, Dresden, Germany|Centre for Tactile Internet with Human-in-the-Loop (CeTI), Dresden, Germany

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2025

10.1109/TRO.2024.3492375

IEEE transactions on robotics: A publication of the IEEE Robotics and Automation Society

IEEE transactions on robotics: A publication of the IEEE Robotics and Automation Society

ISSN：
年,卷(期)：2025.41(1)
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