The DOI matches its Crossref record; 25 of the 25 references it cites were found in a registry or an index.
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation
Open accessAbstract
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing contact forces - sensing and reasoning about contact forces are crucial to accurately control interactions with the environment. As a step towards enabling better robotic manipulation, we introduce DIGIT, an inexpensive, compact, and high-resolution tactile sensor geared towards in-hand manipulation. DIGIT improves upon past vision-based tactile sensors by miniaturizing the form factor to be mountable on multi-fingered hands, and by providing several design improvements that result in an easier, more repeatable manufacturing process, and enhanced reliability. We demonstrate the capabilities of the DIGIT sensor by training deep neural network model-based controllers to manipulate glass marbles in-hand with a multi-finger robotic hand. To provide the robotic community access to reliable and low-cost tactile sensors, we open-source the DIGIT design at www.digit.ml.
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Cites
Coding and use of tactile signals from the fingertips in object manipulation tasks
Johansson, R. S., & Flanagan, J. R. (2009) · Nature Reviews Neuroscience · doi:10.1038/nrn2621 · Cited by 2,063
Tactile Sensing—From Humans to Humanoids
Dahiya, R. S., Metta, G., Valle, M., & Sandini, G. (2010) · IEEE Transactions on Robotics · doi:10.1109/tro.2009.2033627 · Cited by 1,851
GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force
Yuan, W., Dong, S., & Adelson, E. (2017) · Sensors · doi:10.3390/s17122762 · Cited by 1,166
Tactile sensing for dexterous in-hand manipulation in robotics—A review
Yousef, H., Boukallel, M., & Althoefer, K. (2011) · Sensors and Actuators A: Physical · doi:10.1016/j.sna.2011.02.038 · Cited by 784
Tactile sensing in dexterous robot hands — Review
Kappassov, Z., Corrales, J.-A., & Perdereau, V. (2015) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2015.07.015 · Cited by 782
The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies
Ward-Cherrier, B., Pestell, N., Cramphorn, L., Winstone, B., Giannaccini, M. E., Rossiter, J., & Lepora, N. F. (2018) · Soft Robotics · doi:10.1089/soro.2017.0052 · Cited by 587
More Than a Feeling: Learning to Grasp and Regrasp Using Vision and Touch
Calandra, R., Owens, A., Jayaraman, D., Lin, J., Yuan, W., Malik, J., Adelson, E. H., & Levine, S. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2852779 · Cited by 359
Self-citationLee, M. A., Zhu, Y., Srinivasan, K., Shah, P., Savarese, S., Fei-Fei, L., Garg, A., & Bohg, J. (2019) · 2019 International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2019.8793485 · Cited by 349
GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger
Donlon, E., Dong, S., Liu, M., Li, J., Adelson, E., & Rodriguez, A. (2018) · 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593661 · Cited by 332
Retrographic sensing for the measurement of surface texture and shape
Johnson, M. K., & Adelson, E. H. (2009) · 2009 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2009.5206534 · Cited by 307
Cited by
VITO-Transformer: A Visual-Tactile Fusion Network for Object Recognition
Li, B., Bai, J., Qiu, S., Wang, H., & Guo, Y. (2023) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2023.3326241 · Cited by 39
Sparsh: Self-supervised touch representations for vision-based tactile sensing
Higuera, C., Sharma, A., Bodduluri, C. K., Fan, T., Lancaster, P., Kalakrishnan, M., Kaess, M., Boots, B., Lambeta, M., Wu, T., et al. (2024) · arXiv · doi:10.48550/arxiv.2410.24090 · Cited by 4
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Metadata
- Authors
- Lambeta, M., Chou, P.-W., Tian, S., Yang, B., Maloon, B., Most, V. R., Stroud, D., Santos, R., Byagowi, A., Kammerer, G., Jayaraman, D., & Calandra, R.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2020-07
- Volume
- 5
- Issue
- 3
- Pages
- 3838-3845
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W3008303301
- Cited by
- 553
- References
- 25
- FWCI
- 23.47
- Type
- journal article
- Language
- en
- Open access
- green
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- Lambeta, M., Chou, P.-W., Tian, S., Yang, B., Maloon, B., Most, V. R., Stroud, D., Santos, R., Byagowi, A., Kammerer, G., Jayaraman, D., & Calandra, R. (2020). DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2020.2977257
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