FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors

• URL: http://arxiv.org/abs/2410.02048v1
• Date: Wed, 2 Oct 2024 21:28:19 GMT
• Title: FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors
• Authors: Amir-Hossein Shahidzadeh, Gabriele Caddeo, Koushik Alapati, Lorenzo Natale, Cornelia Fermüller, Yiannis Aloimonos,
• Abstract summary: We tackle the problem of estimating 3D contact forces using vision-based tactile sensors. Our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across different vision-based tactile sensors.
• Score: 18.88211706267447
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across different vision-based tactile sensors. Thus, we collected a dataset of over 200K indentations using a robotic arm that pressed various indenters onto a GelSight Mini sensor mounted on a force sensor and then used the data to train a multi-head transformer for force regression. Strong generalization is achieved via accurate data collection and multi-objective optimization that leverages depth contact images. Despite being trained only on primitive shapes and textures, the regressor achieves a mean absolute error of 4\% on a dataset of unseen real-world objects. We further evaluate our approach's generalization capability to other GelSight mini and DIGIT sensors, and propose a reproducible calibration procedure for adapting the pre-trained model to other vision-based sensors. Furthermore, the method was evaluated on real-world tasks, including weighing objects and controlling the deformation of delicate objects, which relies on accurate force feedback. Project webpage: http://prg.cs.umd.edu/FeelAnyForce

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