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

TL;DR

DIGIT is an affordable, compact, high-resolution tactile sensor designed for in-hand robotic manipulation, enabling precise contact force sensing and control, demonstrated through neural network-based marble manipulation.

Contribution

We present DIGIT, a novel low-cost, high-resolution tactile sensor with a miniaturized design, improved manufacturing, and demonstrated effectiveness in in-hand manipulation tasks.

Findings

Successful manipulation of glass marbles using DIGIT with neural network controllers.

Enhanced reliability and ease of manufacturing of the tactile sensor.

Open-source availability for the robotics community.

Abstract

Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing contact forces -- sensing and reasoning about contact forces are crucial to accurately control interactions with the environment. As a step towards enabling better robotic manipulation, we introduce DIGIT, an inexpensive, compact, and high-resolution tactile sensor geared towards in-hand manipulation. DIGIT improves upon past vision-based tactile sensors by miniaturizing the form factor to be mountable on multi-fingered hands, and by providing several design improvements that result in an easier, more repeatable manufacturing process, and enhanced reliability. We demonstrate the capabilities of the DIGIT sensor by training deep neural network model-based controllers to manipulate glass marbles in-hand with a multi-finger robotic hand. To provide the robotic community access to reliable and low-cost tactile sensors, we open-source the DIGIT design at https://digit.ml/.