DeepXPalm: Tilt and Position Rendering using Palm-worn Haptic Display and CNN-based Tactile Pattern Recognition

Telemanipulation of deformable objects requires high precision and dexterity from the users, which can be increased by kinesthetic and tactile feedback. However, the object shape can change dynamically, causing ambiguous perception of its alignment and hence errors in the robot positioning. Therefore, recognize the tilt angle and position patterns sensed over the gripper fingertip is a classificat...