Abstract
Imagine you are at the beach with a metal detector which goes off, and you stick your hands in the sand to find the metal object. Even though the granular media (sand) is constantly affecting your sense of touch on your fingers and palm, its acuity combined with your cognition enables you to easily find buried objects
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Acknowledgements
This research was supported by the Toyota Research Institute, the Office of Naval Research (ONR) [N00014-18-1-2815], and the GentleMAN project of the Norwegian Research Council. We would like to thank Achu Wilson, Shaoxiong Wang, Sandra Liu, Yu She, Filipe Veiga, and Megha Tippur for insightful discussions. We also thank Siyuan Dong, Daolin Ma and Alberto Rodriguez for lending us the force-torque sensor.
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Patel, R., Ouyang, R., Romero, B., Adelson, E. (2021). Digger Finger: GelSight Tactile Sensor for Object Identification Inside Granular Media. In: Siciliano, B., Laschi, C., Khatib, O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_10
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