Monocular vision

Human–computer interaction

Artificial intelligence

Computer science

Tactile sensor

Computer vision

Monocular

Robot

Cyborg and Bionic Systems

Tactile sensing is an essential capability for robots performing manipulation tasks. In this paper, we introduce a framework to build a monocular visual-tactile sensor for robotic manipulation tasks. Such a sensor is easy to manufacture with affordable ingredients and materials. Based on a marker-based detection method, the sensor can detect the contact positions on a flat or curved surface. In the case study, we have implemented a visual-tactile sensor design specifically through the framework proposed in this paper. The design is low cost and can be processed in a very short time, making it suitable for use as an exploratory study in the laboratory.

Implementing Monocular Visual-Tactile Sensors for Robust Manipulation