Paper Link: https://arxiv.org/pdf/2610.31661
Main Ideas
- Cheap Skin that senses force in 3D
- Built a sensor costs $1.95 / unit, same as FlexiTac but also measures shear
- OpenTac-CAD, designs sensor automatically
- Give a 3D outline, a surface picked on a 3D robot model, or text description; lays out taxels, routes the wiring, runs design-rule checks and outputs files a PCB service can manufacture
- OpenTac-Sim, simulator built on MuJoCo physics engine
- Simulates contact, reads values “closely” with average real readings
- Can simulate stable contact with rigid objects only
- Outputs are approximations
- Sim-to-real not proven
- OpenTac-Xampling, reads the sensor much faster
- Instead of reading every taxes each frame, it samples a small number of taxels