← 研踪 PaperTrailarXiv:2610.31661 · v2
OpenTac: An Open Ecosystem for Customizable, Scalable, and Transferable 3D Tactile Sensing
首次提交 2026-10-23 01:59
版本更新 2026-11-06 02:03
雷达观测 2026-11-06 12:09
摘要
We present OpenTac, a novel sensor and a full-stack ecosystem for tactile skins that are highly customizable, scalable, and readily deployed in downstream robot control and learning applications. Our core contribution is twofold. First, we develop a scalable resistive tactile skin with a structured deformable overlay that converts tangential loading into spatially varying pressure. Differential responses across neighboring "taxels" support decoding of local shear vectors, and the common-mode response encodes normal force. Second, we provide a highly customizable sensor design tool that is able to automatically generate fabrication files for these tactile skins from 2D outlines and developable 3D surfaces, including from abstract descriptions such as text. We develop an ecosystem around the OpenTac sensor, including the CAD design tool, a sensor simulator, cross-sensor transfer, and fast/adaptive data acquisition. We demonstrate the broad applicability of the OpenTac-CAD sensor design tool by designing and fabricating more than 30 sensors across a variety of robot embodiments. We characterize the three-dimensional tactile fields produced by OpenTac with a commercial, high-precision force/torque sensor. We demonstrate the broad applicability of 3D tactile sensing across contact-rich feedback control and manipulation policy learning on four real-world robot embodiments. Additionally, adaptive acquisition enables kilohertz-rate partial readouts, and our readout circuitry enables high dynamic range (HDR) acquisition, measuring, for example, a 3.7 kg weight stack and a 20 g weight on the same sensor in the same frame. We provide all hardware, software, and result videos at opentac.github.io
作者备注：15 pages, 15 figures. Project website, open-source hardware and software, and demonstration videos: https://opentac.github.io
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v2 · 2026-11-06 02:03 · 最新观测版本
OpenTac: An Open Ecosystem for Customizable, Scalable, and Transferable 3D Tactile Sensing
We present OpenTac, a novel sensor and a full-stack ecosystem for tactile skins that are highly customizable, scalable, and readily deployed in downstream robot control and learning applications. Our core contribution is twofold. First, we develop a scalable resistive tactile skin with a structured deformable overlay that converts tangential loading into spatially varying pressure. Differential responses across neighboring "taxels" support decoding of local shear vectors, and the common-mode response encodes normal force. Second, we provide a highly customizable sensor design tool that is able to automatically generate fabrication files for these tactile skins from 2D outlines and developable 3D surfaces, including from abstract descriptions such as text. We develop an ecosystem around the OpenTac sensor, including the CAD design tool, a sensor simulator, cross-sensor transfer, and fast/adaptive data acquisition. We demonstrate the broad applicability of the OpenTac-CAD sensor design tool by designing and fabricating more than 30 sensors across a variety of robot embodiments. We characterize the three-dimensional tactile fields produced by OpenTac with a commercial, high-precision force/torque sensor. We demonstrate the broad applicability of 3D tactile sensing across contact-rich feedback control and manipulation policy learning on four real-world robot embodiments. Additionally, adaptive acquisition enables kilohertz-rate partial readouts, and our readout circuitry enables high dynamic range (HDR) acquisition, measuring, for example, a 3.7 kg weight stack and a 20 g weight on the same sensor in the same frame. We provide all hardware, software, and result videos at opentac.github.io
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