Thintact Thin Visionbased Tactile Sensor By Lensless Imaging

• doi: 10.1109/TRO.2025.3530319
• title: ThinTact: Thin Vision-Based Tactile Sensor by Lensless Imaging
• publisher: IEEE
• isbn:
• issn: 1941-0468
• rank: 3836
• access_type: LOCKED
• content_type: Journals
• abstract: Vision-based tactile sensors have drawn increasing interest in the robotics community. However, traditional lens-based designs impose minimum thickness constraints on these sensors, limiting their applicability in space-restricted settings. In this article, we propose ThinTact, a novel lensless vision-based tactile sensor with a sensing field of over 200 mm${}^{2}$ and a thickness of less than 10 mm. ThinTact utilizes the mask-based lensless imaging technique to map the contact information to CMOS signals. To ensure real-time tactile sensing, we propose a real-time lensless reconstruction algorithm that leverages a frequency-spatial-domain joint filter based on discrete cosine transform. This algorithm achieves computation significantly faster than existing optimization-based methods. In addition, to improve the sensing quality, we develop a mask optimization method based on the generic algorithm and the corresponding system matrix calibration algorithm. We evaluate the performance of our proposed lensless reconstruction and tactile sensing through qualitative and quantitative experiments. Furthermore, we demonstrate ThinTact's practical applicability in diverse applications, including texture recognition and contact-rich object manipulation.
• article_number: 10842357
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10842357
• html_url: https://ieeexplore.ieee.org/document/10842357/
• abstract_url: https://ieeexplore.ieee.org/document/10842357/
• publication_title: IEEE Transactions on Robotics
• conference_location:
• conference_dates:
• publication_number: 8860
• is_number: 10778592
• publication_year: 2025
• publication_date: 2025
• start_page: 1139
• end_page: 1154
• citing_paper_count: 0
• citing_patent_count: 0
• download_count: 764
• insert_date: 20250115
• index_terms:
  • ieee_terms:
    • Imaging
    • Tactile sensors
    • Robot sensing systems
    • Image reconstruction
    • Robots
    • Real-time systems
    • Optical sensors
    • Optical imaging
    • Lenses
    • Reconstruction algorithms
  • author_terms:
    • Lensless imaging
    • mask optimization
    • real-time reconstruction
    • tactile sensing
  • dynamic_index_terms:
    • Tactile Sensor
    • Haptic Perception
    • Lensless Imaging
    • Vision-based Tactile Sensors
    • System Matrix
    • System Matrices
    • Reconstruction Algorithm
    • Discrete Cosine Transform
    • Optimization-based Methods
    • Real-time Algorithm
    • Calibration Algorithm
    • Real-time Reconstruction
    • Deep Neural Network
    • Test Tube
    • Image Reconstruction
    • Iterative Reconstruction
    • Tomographic Reconstruction
    • Image Sensor
    • Camera Sensor
    • Depth Map
    • Function Of Depth
    • Point Spread Function
    • Elastography
    • FibroScan
    • Lateral Resolution
    • Low-frequency Components
    • Structural Similarity Index Measure
    • Simulated Images
    • Image Calibration
    • Scene Reconstruction
    • Reconstruction Quality
    • Actual Resolution
    • Superior Resolution
    • Lens System
    • Robotic Applications
    • Hole Diameter
• authors:
  • Author Name: Jing Xu
    Affiliation: Department of Mechanical Engineering, Tsinghua University, Beijing, China
    Author URL: https://ieeexplore.ieee.org/author/37537287500
    ID: 37537287500
    Order: 1
    Author Affiliations:
    • Department of Mechanical Engineering, Tsinghua University, Beijing, China
  • Author Name: Weihang Chen
    Affiliation: Department of Mechanical Engineering, Tsinghua University, Beijing, China
    Author URL: https://ieeexplore.ieee.org/author/37087031864
    ID: 37087031864
    Order: 2
    Author Affiliations:
    • Department of Mechanical Engineering, Tsinghua University, Beijing, China
  • Author Name: Hongyu Qian
    Affiliation: Department of Mechanical Engineering, Tsinghua University, Beijing, China
    Author URL: https://ieeexplore.ieee.org/author/37087031404
    ID: 37087031404
    Order: 3
    Author Affiliations:
    • Department of Mechanical Engineering, Tsinghua University, Beijing, China
  • Author Name: Dan Wu
    Affiliation: Department of Mechanical Engineering, Tsinghua University, Beijing, China
    Author URL: https://ieeexplore.ieee.org/author/37556619000
    ID: 37556619000
    Order: 4
    Author Affiliations:
    • Department of Mechanical Engineering, Tsinghua University, Beijing, China
  • Author Name: Rui Chen
    Affiliation: Department of Mechanical Engineering, Tsinghua University, Beijing, China
    Author URL: https://ieeexplore.ieee.org/author/37085699353
    ID: 37085699353
    Order: 5
    Author Affiliations:
    • Department of Mechanical Engineering, Tsinghua University, Beijing, China

Image Sensor

• sensor_type: CMOS
• resolution: 2560x2048
• dynamic_range: Not specified
• pixel_size: Not specified
• dark_current: Not specified

Optical Data

• focal_length: Not specified
• aperture: Not specified
• field_of_view: Not specified
• distortion: Not specified

Performance Metrics

Applications & Benefits

• cell_imaging: Not specified
• benefits: Cost-effectiveness, high spatial resolution, robustness against electromagnetic interference, compatibility with learning-based computer vision techniques.

Supporting Organizations

• supported_by: National Natural Science Foundation of China, Beijing Municipal Natural Science Foundation, Key Research and Development Program of Henan Province.

Manuscript Details

• publication_date: 2025

Relevancy Score

• score: 9
• missing_fields:
  • dynamic_range
  • pixel_size
  • dark_current
  • focal_length
  • aperture
  • field_of_view
  • distortion
  • frame_rate
  • signal_to_noise_ratio
  • sensitivity
  • shutter_speed
  • power_consumption
  • noise

Processed JSON Filename

request_955d6235-bb24-4f37-8c2e-2c9b11dc0984-thintact_thin_visionbased_tactile_sensor_by_lensless_imaging.json