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GelSlim 4.0: Focusing on Touch and Reproducibility
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GelSlim 4.0: Focusing on Touch and Reproducibility
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Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and accessibility across research and hobbyist communities. Building upon the GelSlim 3.0 sensor, our design features two key improvements: a simplified, modifiable finger structure and easily manufacturable lenses. To complement the hardware, we provide an open-source perception library that includes depth and shear field estimation algorithms to enable in-hand pose estimation, slip detection, and other manipulation tasks. Our sensor is accompanied by comprehensive manufacturing documentation, ensuring the design can be readily produced by users with varying levels of expertise. We validate the sensor's reproducibility through extensive human usability testing. For documentation, code, and data, please visit the project website: https://www.mmintlab.com/research/gelslim-4-0/
Forward citations
Cited by 5 Pith papers
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FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation
FELT predicts finger pressure maps from RGB images and uses them or their learned features to improve manipulation policies without real tactile sensors at deployment.
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Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
A 130 mm open-source visuotactile endcap uses optically tracked marker motion and a residual MLP to estimate 6-axis contact wrenches, enabling ground-contact detection on tensegrity robots.
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Tac-DINO: Learning Vision-Tactile Features with Patch Alignment
Tac-DINO constructs a large tactile dataset and Vis-Tac Holographic Matching Benchmark, then proposes Vision-Tactile Patch Alignment (VTPA) methods that outperform non-aligned baselines on local-to-global feature matching.
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3D Cal: An Open-Source Software Library for Depth Reconstruction on Vision-Based Tactile Sensors
3D Cal repurposes a 3D printer as an automated calibration rig and trains a lightweight CNN, TouchNet, to reconstruct depth maps for DIGIT and GelSight Mini.
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AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning
Presents arm-worn AetheRock hardware for multi-modal data collection and ForceVT learning method to improve tactile inference robustness despite sensor variations.
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