High resolution tactile sensors are often bulky and have shape profiles that make them awkward for use in manipulation. This becomes important when using such sensors as fingertips for dexterous multi-fingered hands, where boxy or planar fingertips limit the available set of smooth manipulation strategies. High resolution optical based sensors such as GelSight have until now been constrained to relatively flat geometries due to constraints on illumination geometry.Here, we show how to construct a rounded fingertip that utilizes a form of light piping for directional illumination. Our sensors can replace the standard rounded fingertips of the Allegro hand.They can capture high resolution maps of the contact surfaces,and can be used to support various dexterous manipulation tasks.

中文翻译：

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用于灵巧机器人操作的柔软、圆形、高分辨率触觉指尖传感器

高分辨率触觉传感器通常体积庞大且形状轮廓使其难以用于操作。当使用此类传感器作为灵巧的多指手的指尖时，这变得很重要，其中四四方方或平面指尖限制了可用的平滑操作策略集。迄今为止，由于照明几何结构的限制，基于高分辨率光学的传感器（例如 GelSight）一直受限于相对平坦的几何结构。在这里，我们展示了如何构建圆形指尖，该指尖利用一种形式的光管道进行定向照明。我们的传感器可以替代 Allegro 手的标准圆形指尖。它们可以捕获接触面的高分辨率地图，并可用于支持各种灵巧的操作任务。