Abstract
Tactile sensing is pivotal for enhancing robot manipulation abilities by providing crucial feedback for localized information. However, existing sensors often lack the necessary resolution and bandwidth required for intricate tasks. To address this gap, we introduce VibTac, a novel multi-modal tactile sensing finger designed to offer high-resolution and high-bandwidth tactile sensing simultaneously. VibTac seamlessly integrates vision-based and vibration-based tactile sensing modes to achieve high-resolution and high-bandwidth tactile sensing respectively, leveraging a streamlined human-inspired design for versatility in tasks. This paper outlines the key design elements of VibTac and its fabrication methods, highlighting the significance of the Elastomer Gel Pad (EGP) in its sensing mechanism. The sensor's multi-modal performance is validated through 3D reconstruction and spectral analysis to discern tactile stimuli effectively. In experimental trials, VibTac demonstrates its efficacy by achieving over 90% accuracy in insertion tasks involving objects emitting distinct sounds, such as ethernet connectors. Leveraging vision-based tactile sensing for object localization and employing a deep learning model for “click” sound classification, VibTac showcases its robustness in real-world scenarios. Video of the sensor working can be accessed at https://youtu.be/kmKIUlXGroo.
Keywords
Robot sensing systems; Sensors; Robots; Tactile sensors; Cameras; Fabrication; Accelerometers; Microphones; Elastomers; Bandwidth; Tactile sensing; vision-based tactile; vibration-based tactile; manipulation
Date of this Version
2025
Recommended Citation
Athar, Sheeraz; Zhang, Xinwei; Ueda, Jun; Zhao, Ye; and She, Yu, "VibTac: A high-resolution high-bandwidth tactile sensing finger for multi-modal perception in robotic manipulation" (2025). School of Industrial Engineering Faculty Publications. Paper 21.
https://docs.lib.purdue.edu/iepubs/21
Comments
This is the author-accepted manuscript of S. Athar, X. Zhang, J. Ueda, Y. Zhao and Y. She, "VibTac: A High-Resolution High-Bandwidth Tactile Sensing Finger for Multi-Modal Perception in Robotic Manipulation," in IEEE Transactions on Haptics. (c) 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. The version of record can be found at DOI: 10.1109/TOH.2025.3561049.