SuperMag: Vision-based Tactile Data Guided High-resolution TactileShape Reconstruction for Magnetic Tactile Sensors
Basic Information
- Peiyao Hou*, Danning Sun*, Meng Wang, Yuzhe Huang, Zeyu Zhang, Hangxin Liu, Wanlin Li†, Ziyuan Jiao†
- IROS
- 2025
Abstract
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arrays. This paper proposes SuperMag, a tactile shape reconstruction method that addresses this limitation by leveraging high-resolution vision-based tactile sensor (VBTS) data to supervise MBTS super-resolution. Co-designed, opensource VBTS and MBTS with identical contact modules enable synchronized data collection of high-resolution shapes and magnetic signals via a symmetric calibration setup. We frame tactile shape reconstruction as a conditional generative problem, employing a conditional variational auto-encoder to infer high-resolution shapes from low-resolution MBTS inputs. The MBTS achieves a sampling frequency of 125 Hz, whereas the shape reconstruction sustains an inference time within 2.5 ms. This cross-modality synergy advances tactile perception of the MBTS, potentially unlocking its new capabilities in high precision robotic tasks.