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Taxel-based Tactile Pattern Super Resolution
  • Bing Wu ,
  • Qian Liu
Bing Wu
Dept. of Computer Science and Technology

Corresponding Author:[email protected]

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The past decade has witnessed the development of tactile sensors, which have been increasingly considered as an essential equipment in robotics, especially the dexterous manipulation and collaborative human-robot interactions. There are two major types of tactile sensors, i.e., the vision-based and taxel-based sensors. The latter is capable of achieving lower integration complexity with existing robotic systems, but unable to provide high-resolution (HR) tactile information as that of the vision-based counterpart due to the manufacturing limitations. Therefore, we propose a novel tactile pattern super-resolution (SR) scheme for taxel-based sensors, which is a generic scheme enabling customized selection on the number of applied “tapping” actions to achieve improvable performance from single tapping SR (STSR) to the multi-tapping SR (MTSR). In addition, we develop a new dataset for the proposed tactile SR scheme. In order to obtain scalable resolutions (e.g. $\times$4, $\times$10, $\times$20, etc.) of ground-truth HR tactile patterns, we propose a novel tactile point spread function (PSF) scheme to generate HR tactile patterns by leveraging the low-resolution (LR) data gathered directly from the taxel-based sensor and the depth information of contact surfaces. This is in strong contrast to the conventional ground-truth generation approach with overlapped multi-sampling and registration strategy, which can only provide a fixed resolution. Experimental results confirm the efficiency of the proposed scheme.