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Retrieving rich contact information from robotic tactile sensing has been achallenging, yet significant task for the effective perception of objectproperties that the robot interacts with. This work is dedicated to developingan algorithm to estimate contact force and torque for vision-based tactilesensors. We first introduce the observation of the contact deformation patternsof hyperelastic materials under ideal single-axial loads in simulation. Thenbased on the observation, we propose a method of estimating surface forces andtorque from the contact deformation vector field with the Helmholtz-HodgeDecomposition (HHD) algorithm. Extensive experiments of calibration andbaseline comparison are followed to verify the effectiveness of the proposedmethod in terms of prediction error and variance. The proposed algorithm isfurther integrated into a contact force visualization module as well as aclosed-loop adaptive grasp force control framework and is shown to be useful inboth visualization of contact stability and minimum force grasping task.

Effective Estimation of Contact Force and Torque for Vision-based Tactile Sensor with Helmholtz-Hodge Decomposition