{"ID":2878733,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.18443","arxiv_id":"2508.18443","title":"PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing","abstract":"Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and proprioception. Our work presents a novel vision-based approach for sensorizing soft robots. We demonstrate our approach on PneuGelSight, a pioneering pneumatic manipulator featuring high-resolution proprioception and tactile sensing via an embedded camera. To optimize the sensor's performance, we introduce a comprehensive pipeline that accurately simulates its optical and dynamic properties, facilitating a zero-shot knowledge transition from simulation to real-world applications. PneuGelSight and our sim-to-real pipeline provide a novel, easily implementable, and robust sensing methodology for soft robots, paving the way for the development of more advanced soft robots with enhanced sensory capabilities.","short_abstract":"Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and proprioception. Our work presents a novel vision-based approach for sensorizing soft...","url_abs":"https://arxiv.org/abs/2508.18443","url_pdf":"https://arxiv.org/pdf/2508.18443v2","authors":"[\"Ruohan Zhang\",\"Uksang Yoo\",\"Yichen Li\",\"Arpit Agarwal\",\"Wenzhen Yuan\"]","published":"2025-08-25T19:47:45Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}