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GelSlim 4.0: Focusing on Touch and Reproducibility

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arxiv 2409.19770 v1 pith:IMP6HUPQ submitted 2024-09-29 cs.RO

Andrea Sipos , William van den Bogert , Nima Fazeli This is my paper · ORCID
classification cs.RO
keywords sensorreproducibilitydesigndocumentationestimationgelslimmanipulationopen-source
verification ladder T0 review T1 audit T2 compute T3 formal
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Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and accessibility across research and hobbyist communities. Building upon the GelSlim 3.0 sensor, our design features two key improvements: a simplified, modifiable finger structure and easily manufacturable lenses. To complement the hardware, we provide an open-source perception library that includes depth and shear field estimation algorithms to enable in-hand pose estimation, slip detection, and other manipulation tasks. Our sensor is accompanied by comprehensive manufacturing documentation, ensuring the design can be readily produced by users with varying levels of expertise. We validate the sensor's reproducibility through extensive human usability testing. For documentation, code, and data, please visit the project website: https://www.mmintlab.com/research/gelslim-4-0/

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Forward citations

Cited by 4 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation

    cs.RO 2026-07 conditional novelty 6.0 of 10

    FELT predicts finger pressure maps from RGB images and uses them or their learned features to improve manipulation policies without real tactile sensors at deployment.

  2. Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

    cs.RO 2026-07 conditional novelty 6.0 of 10

    A 130 mm open-source visuotactile endcap uses optically tracked marker motion and a residual MLP to estimate 6-axis contact wrenches, enabling ground-contact detection on tensegrity robots.

  3. 3D Cal: An Open-Source Software Library for Depth Reconstruction on Vision-Based Tactile Sensors

    cs.RO 2025-11 conditional novelty 6.0 of 10

    3D Cal repurposes a 3D printer as an automated calibration rig and trains a lightweight CNN, TouchNet, to reconstruct depth maps for DIGIT and GelSight Mini.

  4. ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation

    cs.RO 2025-06 conditional novelty 6.0 of 10

    ViTaSCOPE jointly estimates in-hand object pose and extrinsic contact location on an object from vision and tactile shear fields, trained solely in simulation and deployed in the real world.

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