Early research / Fabrication · Sensor integration
GelSight-inspired tactile sensor development
Building a physical tactile sensor established the foundation for my later work on compact optics and multimodal robotic perception.
Prototype development
I developed a vision-based tactile sensor inspired by the GelSight sensing principle. A camera observes the deformation of a compliant sensing surface, making contact geometry visible through an image.
This work involved preparing the sensing surface, assembling the optical hardware, and developing the software used to capture and process contact observations. It provided practical experience with the fabrication and calibration challenges of tactile sensing.
Subsequent research
The sensor work developed into vision-and-touch pose estimation and then miniature sensor design. Those projects provide the peer-reviewed evaluations and measured results for the later systems.