Force Measurement Technology of Vision-Based Tactile Sensor

Abstract

Marker-type vision-based tactile sensors (VTS) realize force sensing by calibrating marker vector information. The tactile visualization can provide high-precision and multimodal force information to promote robotic dexterous manipulation development. Considering VTS's contribution to force measurement, this article reviews the advanced force measurement technologies of VTSs. First, the working principle of marker-type VTSs is introduced, including single-layer markers, double-layer markers, color coding, and optical flow. Then, the relationship between the marker type and the category of force measurement is discussed in detail. On this basis, the process of marker feature extraction is summarized, including image processing and marker-matching technologies. According to the learning approach, force measurement methods are classified into physical and deep learning models. Further, branches of each method are analyzed in terms of input types. Combined with measuring range and precision, the correlation of sensor design, materials, and recognition methods to force measurement performance is further discussed. Finally, the difficulties and challenges are analyzed, and future developments are proposed. This review aims to deepen understanding of the research progress and applications and provide a reference for the research community to promote technology generations in related fields.