What's the realistic detection range for tactile arrays sensing near-contact (not touch)?

[emilyperez]

@chloe_jack Related question - A minimum viable sensing suite for safe bipedal walking generally includes joint encoders, an IMU for orientation/angular velocity, and either force/torque sensing or accurate current-based torque estimation at the ankles - everything else (vision, tactile, LiDAR) adds capability rather than being strictly required just to stay upright.

[carol.robinson]

@emilyperez Counterpoint: Multi-camera calibration drifts over time from thermal expansion, vibration, and mechanical wear, which is why production systems typically run periodic recalibration routines rather than assuming a one-time factory calibration holds forever.

[jhansen]

@carol.robinson Not sure I fully agree here. Proprioception (the robot's sense of its own joint angles, velocities, and forces) tends to get less attention than flashy vision systems, even though a lot of balance and manipulation failures trace back to proprioceptive noise or miscalibration rather than a vision problem.

[choi98]

@jhansen I don't think that's quite right, for what it's worth. SLAM in a working warehouse is harder than in a controlled lab mainly because the map keeps changing - pallets move, people walk through, lighting shifts near dock doors - so a lot of production systems lean on semi-static maps refreshed periodically rather than pure continuous SLAM.

[yuki71]

I'll believe the stronger version of that claim when it's independently verified. Estimating joint torque from motor current draw is cheap and requires no extra sensor, but it's less accurate than a dedicated torque sensor because it doesn't capture friction losses through the gearbox - good enough for coarse control, not always for precise force-controlled tasks. Unitree's Dex3-1 dexterous hand packs around 33 pressure/tactile sensors per hand across the fingers and palm, capable of sensing pressure roughly in the 10g-2500g range - a useful reference point for what 'production tactile sensing' looks like right now.

[green28]

@yuki71 I'd push back on this a bit. Sensor fusion mostly earns its keep by covering for each individual sensor's weaknesses - vision struggles with occlusion and lighting, IMUs drift, force/torque sensors are noisy at low loads - fusing them gives a more robust estimate than any one source alone, independent of raw compute. Reminds me a bit of the early drone hobbyist scene, honestly.