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About this paper
Eric T. Chang, Bianca Aumann, Zhanpeng He, Mohamed Elnoor, Thomas Liang, Matei Ciocarlie, Nima Fazeli, Joshua Migdal and 2 more
ToFTouch combines three multizone time-of-flight sensors and an optical tactile patch on a gripper fingertip, providing coarse nearby-distance readings before contact and tactile signals during contact. In a known-pick-point, known-geometry test, ToF-triggered early closure reduced mean cycle time by 7.4%, from 3.533 to 3.271 seconds over ten trials. This initial characterization does not establish an insertion-control advantage.
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