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MuxGel: Simultaneous Dual-Modal Visuo-Tactile Sensing via Spatially Multiplexing and Deep Reconstruction
Description
High-fidelity visuo-tactile sensing is important for precise robotic manipulation. However, most vision-based tactile sensors face a fundamental trade-off: opaque coatings enable tactile sensing but block pre-contact vision. To address this, we propose MuxGel, a spatially multiplexed sensor that captures both external visual information and contact-induced tactile signals through a single camera. By using a checkerboard coating pattern, MuxGel interleaves tactile-sensitive regions with transpare