A hybrid elastic-hyperelastic approach for simulating soft tactile sensors
Bibliographic record
Abstract
Efficient robotic grasping increasingly relies on artificial intelligence (AI) and tactile sensing technologies, which necessitate the acquisition of substantial data-a task that can often prove challenging. Consequently, the alternative of generating tactile data through precise and efficient simulations is becoming increasingly appealing. A significant challenge for simulating tactile sensors is balancing the trade-off between accuracy and processing time in simulation algorithms and models. To address this, we propose a hybrid approach that combines elastic and hyperelastic finite element simulations, complemented by convolutional neural networks (CNNs), to generate synthetic tactile maps of a soft capacitive tactile sensor. By leveraging a dataset of 53,400 real-world tactile maps, this methodology enables effective training, validation, and testing of each pipeline. This approach combines a fast elastic model for simple contact patches with a more detailed but slower hyperelastic model when greater precision is required. Our method automatically assesses contact patch complexity based on parameters associated with the object's mesh to determine the most appropriate modeling technique by still ensuring accurate deformation simulation. Tested on a dataset of 12 unseen objects, our approach achieves up to 97% Structural Similarity Index Measure (SSIM) for the hyperelastic model and 90% for the elastic model. This hybrid strategy enables an adaptive balance between simulation speed and accuracy, making it suitable for generating synthetic tactile data across tasks with varying precision demands and object geometrical complexities.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".