DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces

TL;DR

This paper presents DenseTact-Mini, a compact optical tactile sensor with multiple grasping strategies that achieves over 90% success in manipulating small objects of various sizes, advancing dexterous robotic manipulation.

Contribution

Introduction of DenseTact-Mini, a novel soft optical tactile sensor with three grasping strategies for improved manipulation of small objects.

Findings

Achieves over 90.2% success rate in grasping diverse objects.

Demonstrates effective use of adhesion, fingernail, and fingertip grasping strategies.

Validates potential of soft optical sensors for dexterous manipulation.

Abstract

Dexterous manipulation, especially of small daily objects, continues to pose complex challenges in robotics. This paper introduces the DenseTact-Mini, an optical tactile sensor with a soft, rounded, smooth gel surface and compact design equipped with a synthetic fingernail. We propose three distinct grasping strategies: tap grasping using adhesion forces such as electrostatic and van der Waals, fingernail grasping leveraging rolling/sliding contact between the object and fingernail, and fingertip grasping with two soft fingertips. Through comprehensive evaluations, the DenseTact-Mini demonstrates a lifting success rate exceeding 90.2% when grasping various objects, spanning items from 1mm basil seeds and small paperclips to items nearly 15mm. This work demonstrates the potential of soft optical tactile sensors for dexterous manipulation and grasping.