Journal
SOFT ROBOTICS
Volume 5, Issue 2, Pages 216-227Publisher
MARY ANN LIEBERT, INC
DOI: 10.1089/soro.2017.0052
Keywords
tactile sensors; dexterous manipulation; soft sensors
Categories
Funding
- Leverhulme Trust Research Leadership Award on A biomimetic forebrain for robot touch'' [RL-2016-039]
- EPSRC grant on Tactile Super-resolution Sensing [EP/M02993X/1]
- EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE)
- EPSRC [EP/I032533/1, EP/M02993X/1, EP/M026388/1, EP/M020460/1] Funding Source: UKRI
- Engineering and Physical Sciences Research Council [EP/M02993X/1, EP/I032533/1, EP/M026388/1, 1723568, EP/M020460/1] Funding Source: researchfish
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Tactile sensing is an essential component in human-robot interaction and object manipulation. Soft sensors allow for safe interaction and improved gripping performance. Here we present the TacTip family of sensors: a range of soft optical tactile sensors with various morphologies fabricated through dual-material 3D printing. All of these sensors are inspired by the same biomimetic design principle: transducing deformation of the sensing surface via movement of pins analogous to the function of intermediate ridges within the human fingertip. The performance of the TacTip, TacTip-GR2, TacTip-M2, and TacCylinder sensors is here evaluated and shown to attain submillimeter accuracy on a rolling cylinder task, representing greater than 10-fold super-resolved acuity. A version of the TacTip sensor has also been open-sourced, enabling other laboratories to adopt it as a platform for tactile sensing and manipulation research. These sensors are suitable for real-world applications in tactile perception, exploration, and manipulation, and will enable further research and innovation in the field of soft tactile sensing.
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