Event-based tactile sensing
Does an event camera preserve contact information as background drift approaches the contact rate? This project tests that question using laser speckle from a compliant skin, imaged by an Event Vision Sensor whose pixels reset their own reference on every event. Planned controlled trials will pair the speckle event stream with an independent contact-timing reference; current camera bench recordings and synthetic protocol tests are not completed proposal trials.
Browse protocol tests or physical experiments. Each collection grows as recordings, figures and notes are published.
Loading the experiment catalogue.
This log records dated changes to the project. Planned work, hypotheses and measurements are kept distinct. Each experiment collection identifies the origin of its data.
The first thesis stage is to record and collect real data that show the rig functioning. This is a scope milestone, not a result: controlled proposal-trial collection had not started as of this update. Camera bench recordings are separate development replays, not completed proposal trials. Rig assembly, laser-safety checks, timing-channel bench tests and the acquisition verification ledger still gate collection.
The environment the apparatus is being developed in, simulated from the CAD assembly so the arrangement can be examined while the physical build is still incomplete. Drag to orbit, scroll to zoom. The framing is computed from the model's own bounds.
Loading the testbed model.
Read the model as the arrangement under development, not as the built rig.
It carries the baseplate, the vertical and shear stages, the skin sample, the onset
transducer, the laser body and the sensor body, and it holds no dimensions that have been
measured. cad/RIG_TRACE.md traces every part to the proposal, the procurement
list or the bench photograph, and records where the model diverges from them.
Every experiment in the grid is runnable in place. Scrub the cursor, drag the visible event window, or press play: the sensor view and the event-rate timeline redraw from the reduced dataset without leaving this page. Nothing opens a separate viewer.
The sensor panel shows the sensor's own state over the window ending at the cursor: one polarity and timestamp per pixel, the way an event camera forms a frame. The vertical marks are the reference channel, so contact can be read against drift.
You can also drop a local .mcap onto any card to reduce it in the browser.
Nothing you select is uploaded; the file is read in the page.
Camera bench replays must be loaded explicitly from their cards. They are reduced, time-windowed excerpts; the processing details are in Provenance. Original recordings remain private.