Pilot Study: Low Cost GelSight Sensor

C. Abad, Alexander and Reid, David and Ranasinghe, Anuradha (2019) Pilot Study: Low Cost GelSight Sensor. In: IEEE International Conference on Robotics and Automation (ICRA 2019), 20-24 May, 2019, Montreal, Canada.

Paper2_LowCostGelsight_camera-ready.pdf - Accepted Version

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GelSight sensor and related technology have been studied a decade to the date. It was proven that it is worth to explore in many haptics and tactile sensing applications. Elastomer, reflective coating, lighting, and camera were the main challenges of making a GelSight sensor within a short period. In this workshop paper, we present our preliminary studies on how to make a GelSight sensor using low cost material. In this study, we used a clear silicone cosmetic sponge as the elastomeric slab and that skipped the degassing process and hours of curing time in making it. Moreover, we used Psycho Paint® for the reflective coating, Light Emitting Diodes (LEDs) for the lighting, and Logitech C270 webcam for our experimental setup. Furthermore, in this study Ultraviolet (UV) ink and UV LEDs have been tested as a marker for the reflective coating and lighting respectively. UV ink markers are invisible using ordinary LED but can be made visible using UV lighting. Comparable results have been found to show the effectiveness of our setup.

Item Type: Conference or Workshop Item (Poster)
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Anuradha Dissanayake Mudiyanselage
Date Deposited: 02 Jun 2019 14:34
Last Modified: 12 Jun 2019 10:45
URI: https://hira.hope.ac.uk/id/eprint/2869

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