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About this paper
Hao Wu, Haotian Guo, Yu Feng, Yutong Wang, Jianshu Zhou
LumiTac reconstructs three forces and three moments from light changes in a compact tactile sensor with five emitters and five RGBW receivers. A learned model maps 20 optical channels to the six contact loads. On an independent recording excluded from training, mean R² was 0.9857. A physical demonstration showed operator-guided robot-gripper interaction; cross-unit generalization was not established.
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