TacHair: Tactile Contact-Distribution Guided Online Correction for Robotic Hair Stroking and Perception
TacHair proposes a framework for robotic hair stroking that uses tactile contact distribution to improve task success and contact maintenance. It separates nominal motion generation from local correction, where a residual module adjusts actions based on whether the actual hair interaction stays within a desired central region. This approach significantly boosts contact maintenance compared to standard methods.