Tactile sensors supply useful information during the interaction with an object that can be used for assessing the stability of a grasp. Most of the previous works on this topic processed tactile readings as signals by calculating hand-picked features. Some of them have processed these readings as images calculating characteristics on matrix-like sensors. In this work, we explore how non-matrix sensors (sensors with taxels not arranged exactly in a matrix) can be processed as tactile images as well. In addition, we prove that they can be used for predicting grasp stability by training a Convolutional Neural Network (CNN) with them. We captured over 2500 real three-fingered grasps on 41 everyday objects to train a CNN that exploited the local connectivity inherent on the non-matrix tactile sensors, achieving 94.2% F1-score on predicting stability.
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