Beyond camera-based sensors, several tactile sensing modalities could be integrated into the hybrid estimation architecture to enhance its performance. One promising approach is the use of piezoelectric sensors, which can detect changes in pressure and vibration. These sensors can provide real-time feedback on the forces exerted during grasping, allowing for a more dynamic understanding of compliance.
Another modality is capacitive sensing, which measures changes in capacitance caused by the deformation of the sensor when in contact with an object. This method can be particularly effective for detecting soft materials and could complement the existing camera-based tactile data by providing additional information on the contact area and pressure distribution.
Furthermore, integrating force-sensitive resistors (FSRs) could enhance the system's ability to measure the force applied during a grasp. FSRs can provide continuous feedback on the pressure exerted on the object, which can be crucial for accurately estimating compliance, especially in cases where the object is harder and less deformable.
Lastly, incorporating thermal sensors could provide insights into the thermal properties of materials, which can be correlated with compliance. By measuring the heat transfer characteristics during contact, the system could gain additional context about the material properties, further refining the compliance estimation.