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This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more homogeneous output than previous vision-based tactile sensors. To achieve a compact integration, we redesign the optical path from illumination source to camera by combining light guides and an arrangement of mirror reflections. We parameterize the optical path with geometric design variables and describe the tradeoffs between the finger thickness, the depth of field of the camera, and the size of the tactile sensing area. The sensor sustains the wear from continuous use -- and abuse -- in grasping tasks by combining tougher materials for the compliant soft gel, a textured fabric skin, a structurally rigid body, and a calibration process that maintains homogeneous illumination and contrast of the tactile images during use. Finally, we evaluate the sensor's durability along four metrics that track the signal quality during more than 3000 grasping experiments., Comment: RA-L Pre-print. 8 pages

Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is acquired by a GelSight tactile sensor and a camera mounted on a gripper when we use a robot arm to grasp and lift 94 daily objects with different grasping forces and grasping positions. The DNN is trained to classify whether a slip occurred or not. To evaluate the performance of the DNN, we test 10 unseen objects in 152 grasps. A detection accuracy as high as 88.03% is achieved. It is anticipated that the accuracy can be further improved with a larger dataset. This method is beneficial for robots to make stable grasps, which can be widely applied to automatic force control, grasping strategy selection and fine manipulation., Comment: International Conference on Robotics and Automation (ICRA) 2018

A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot tasks. A previous sensor, based on a semi-specular membrane, produces high resolution but with limited geometry accuracy. In this paper, we describe a new design of GelSight for robot gripper, using a Lambertian membrane and new illumination system, which gives greatly improved geometric accuracy while retaining the compact size. We demonstrate its use in measuring surface normals and reconstructing height maps using photometric stereo. We also use it for the task of slip detection, using a combination of information about relative motions on the membrane surface and the shear distortions. Using a robotic arm and a set of 37 everyday objects with varied properties, we find that the sensor can detect translational and rotational slip in general cases, and can be used to improve the stability of the grasp., Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems

For machines to interact with the physical world, they must understand the physical properties of objects and materials they encounter. We use fabrics as an example of a deformable material with a rich set of mechanical properties. A thin flexible fabric, when draped, tends to look different from a heavy stiff fabric. It also feels different when touched. Using a collection of 118 fabric sample, we captured color and depth images of draped fabrics along with tactile data from a high resolution touch sensor. We then sought to associate the information from vision and touch by jointly training CNNs across the three modalities. Through the CNN, each input, regardless of the modality, generates an embedding vector that records the fabric's physical property. By comparing the embeddings, our system is able to look at a fabric image and predict how it will feel, and vice versa. We also show that a system jointly trained on vision and touch data can outperform a similar system trained only on visual data when tested purely with visual inputs.

Motivation: Estimation of bacterial community composition from a high-throughput sequenced sample is an important task in metagenomics applications. Since the sample sequence data typically harbors reads of variable lengths and different levels of biological and technical noise, accurate statistical analysis of such data is challenging. Currently popular estimation methods are typically very time consuming in a desktop computing environment. Results: Using sparsity enforcing methods from the general sparse signal processing field (such as compressed sensing), we derive a solution to the community composition estimation problem by a simultaneous assignment of all sample reads to a pre-processed reference database. A general statistical model based on kernel density estimation techniques is introduced for the assignment task and the model solution is obtained using convex optimization tools. Further, we design a greedy algorithm solution for a fast solution. Our approach offers a reasonably fast community composition estimation method which is shown to be more robust to input data variation than a recently introduced related method. Availability: A platform-independent Matlab implementation of the method is freely available at http://www.ee.kth.se/ctsoftware; source code that does not require access to Matlab is currently being tested and will be made available later through the above website., Comment: 10 pages

Information multiplexing is important for biomedical imaging and chemical sensing. In this paper, we report a microscopy imaging technique, termed state-multiplexed Fourier ptychography (FP), for information multiplexing and coherent-state decomposition. Similar to a typical Fourier ptychographic setting, we use an array of light sources to illuminate the sample from different incident angles and acquire corresponding low-resolution images using a monochromatic camera. In the reported technique, however, multiple light sources are lit up simultaneously for information multiplexing, and the acquired images thus represent incoherent summations of the sample transmission profiles corresponding to different coherent states. We show that, by using the state-multiplexed FP recovery routine, we can decompose the incoherent mixture of the FP acquisitions to recover a high-resolution sample image. We also show that, color-multiplexed imaging can be performed by simultaneously turning on R/G/B LEDs for data acquisition. The reported technique may provide a solution for handling the partially coherent effect of light sources used in Fourier ptychographic imaging platforms. It can also be used to replace spectral filter, gratings or other optical components for spectral multiplexing and demultiplexing. With the availability of cost-effective broadband LEDs, the reported technique may open up exciting opportunities for computational multispectral imaging., Comment: 10 pages, 7 figures