OpenTac: An Open Ecosystem for Customizable, Scalable, and Transferable 3D Tactile Sensing
Translation pending. Showing the saved English brief.
OpenTac combines a scalable resistive tactile skin with CAD, simulation, and data-acquisition tools for robot applications. Its structured deformable overlay encodes normal force and local shear from taxel responses. The authors report fabricating more than 30 sensor designs and demonstrate tactile feedback control and manipulation-policy learning on four real-world robot embodiments. Adaptive readout reaches kilohertz rates and is 19.2× faster than full-array raster scanning at 16 sampled taxels per update on a 1024-taxel skin.
A short source-linked brief, prepared and localized with AI assistance. The original article is not republished.
Paper details
Ariel Slepyan, Geeta Chandra Raju Bethala, Jiafeng Gu, Anagha Rajendra Dangle, Yinzhe Zhou, Hongyuan Fu, Jade Sim, Tuhin Basu, Xinyi Yin, Md Faizal Karim, Gregory Hager, Homanga Bharadhwaj, Anand Bhattad, Krishna Murthy Jatavallabhula, Nitish V. Thakor
arXiv: 2610.31661 · v1
Preprints may not have completed peer review.