Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Exoskeleton-covered soft finger with vision-based proprioception and
  tactile sensing   Soft robots offer significant advantages in adaptability, safety, and
dexterity compared to conventional rigid-body robots. However, it is
challenging to equip soft robots with accurate proprioception and tactile
sensing due to their high flexibility and elasticity. In this work, we describe
the development of a vision-based proprioceptive and tactile sensor for soft
robots called GelFlex, which is inspired by previous GelSight sensing
techniques. More specifically, we develop a novel exoskeleton-covered soft
finger with embedded cameras and deep learning methods that enable
high-resolution proprioceptive sensing and rich tactile sensing. To do so, we
design features along the axial direction of the finger, which enable
high-resolution proprioceptive sensing, and incorporate a reflective ink
coating on the surface of the finger to enable rich tactile sensing. We design
a highly underactuated exoskeleton with a tendon-driven mechanism to actuate
the finger. Finally, we assemble 2 of the fingers together to form a robotic
gripper and successfully perform a bar stock classification task, which
requires both shape and tactile information. We train neural networks for
proprioception and shape (box versus cylinder) classification using data from
the embedded sensors. The proprioception CNN had over 99\% accuracy on our
testing set (all six joint angles were within 1 degree of error) and had an
average accumulative distance error of 0.77 mm during live testing, which is
better than human finger proprioception. These proposed techniques offer soft
robots the high-level ability to simultaneously perceive their proprioceptive
state and peripheral environment, providing potential solutions for soft robots
to solve everyday manipulation tasks. We believe the methods developed in this
work can be widely applied to different designs and applications.

36
The categories of this paper are: cmp-lg
27
The categories of this paper are: comp-gas
18
The categories of this paper are: econ
11
The categories of this paper are: hep-lat
31
The categories of this paper are: ao-sci
29
The categories of this paper are: funct-an
2
The categories of this paper are: math
25
The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
35
The categories of this paper are: mtrl-th
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The categories of this paper are: supr-con
33
The categories of this paper are: plasm-ph
9
The categories of this paper are: nlin
8
The categories of this paper are: hep-ex
28
The categories of this paper are: alg-geom
24
The categories of this paper are: dg-ga