AllSight: A Low-Cost and High-Resolution Round Tactile Sensor with Zero-Shot Learning Capability
Osher Azulay, Nimrod Curtis, Rotem Sokolovsky, Guy Levitski, Daniel, Slomovik, Guy Lilling, Avishai Sintov

TL;DR
AllSight is a low-cost, 3D-printed optical tactile sensor with high resolution and zero-shot learning capability, enabling accurate contact state estimation for robotic manipulation without extensive calibration.
Contribution
The paper introduces AllSight, a novel low-cost, modular, 3D-printed tactile sensor with zero-shot learning, simplifying fabrication and calibration for robotic tactile sensing.
Findings
Accurate contact state estimation demonstrated in experiments
Zero-shot learning enables immediate use after fabrication
Flexible design with various illumination and elastomer configurations
Abstract
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually not easy to fabricate and require individual calibration in order to acquire sufficient accuracy. In this letter, we propose AllSight, an optical tactile sensor with a round 3D structure potentially designed for robotic in-hand manipulation tasks. AllSight is mostly 3D printed making it low-cost, modular, durable and in the size of a human thumb while with a large contact surface. We show the ability of AllSight to learn and estimate a full contact state, i.e., contact position, forces and torsion. With that, an experimental benchmark between various configurations of illumination and contact elastomers are provided. Furthermore, the robust design of…
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Taxonomy
TopicsAdvanced Sensor and Energy Harvesting Materials · Muscle activation and electromyography studies · Robot Manipulation and Learning
