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About this paper
Jian Hou, Xin Zhou, Adam J. Spiers
VecTile uses passive silicone nubs over four piezoresistive regions to estimate normal and shear forces at each taxel. In tests, shear-triggered retraction preceded puncture in all 20 balloon trials. Plug-insertion success was 48% with vision, 64% with normal tactile input, and 88% with full three-axis tactile input at unseen locations within the training region.
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