mlsanityData to 14 Oct 2026

Dense Tactile Force Distribution Estimation using GelSlim and inverse FEM

arXiv 1810.04621 ↗First posted 10 Oct 2018cs.ROcited by 18

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Abstract (arXiv)

In this paper, we present a new version of tactile sensor GelSlim 2.0 with the capability to estimate the contact force distribution in real time. The sensor is vision-based and uses an array of markers to track deformations on a gel pad due to contact. A new hardware design makes the sensor more rugged, parametrically adjustable and improves illumination. Leveraging the sensor's increased functionality, we propose to use inverse Finite Element Method (iFEM), a numerical method to reconstruct the contact force distribution based on marker displacements. The sensor is able to provide force distribution of contact with high spatial density. Experiments and comparison with ground truth show that the reconstructed force distribution is physically reasonable with good accuracy.

Key facts. Cited by 18 papers in the map (data through 14 Oct 2026). First posted on arXiv 10 Oct 2018.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 1; 2022: 3; 2023: 4; 2024: 5; 2025: 2; 2026: 3.

18 papers.

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  1. 2023MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulationcited by 34
  2. 2023The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learningcited by 26
  3. 2024Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensingcited by 15
  4. 2022DenseTact: Optical Tactile Sensor for Dense Shape Reconstructioncited by 13
  5. 2026TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulationcited by 13
  6. 2022TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensorscited by 12
  7. 2024Sim2Real Manipulation on Unknown Objects with Tactile-based Reinforcement Learningcited by 11
  8. 2024FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensorscited by 11
  9. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuningcited by 11
  10. 2021A soft thumb-sized vision-based sensor with accurate all-round force perceptioncited by 10
  11. 2023Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensorcited by 9
  12. 2024LeTac-MPC: Learning Model Predictive Control for Tactile-reactive Graspingcited by 4
6 more
  1. 2024Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysiscited by 4
  2. 2022Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprintscited by 3
  3. 2025ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimationcited by 3
  4. 2023Autoencoding a Soft Touch to Learn Grasping from On-land to Underwatercited by 0
  5. 2026Reduced-order Neural Modeling with Differentiable Simulation for High-Detail Tactile Perceptioncited by 0
  6. 2026Dense Force Estimation with an Event-based Optical Tactile Sensorcited by 0