Tactile sensing is an essential component in human-robot interaction and object manipulation. Soft sensors allow for safe improved gripping performance. Here we present the TacTip family of sensors: a range soft optical tactile with various morphologies fabricated through dual-material 3D printing. All these are inspired by same biomimetic design principle: transducing deformation surface via movement pins analogous to function intermediate ridges within human fingertip. The performance...

A key unsolved problem in tactile robotics is how to combine perception and control interact robustly intelligently with the surroundings. Here, we focus on a prototypical task of exploration over surface features such as edges or ridges, which principal exploratory procedure humans recognize object shape. Our methods were adapted from an approach for biomimetic active touch that perceives stimulus location identity while controlling aid perception. With minor modification policy, rotate...

Bringing tactile sensation to robotic hands will allow for more effective grasping, along with a wide range of benefits human-like touch. Here, we present three-dimensional-printed, three-fingered robot hand comprising an OpenHand ModelO customized house TacTip soft biomimetic sensor in the distal phalanx each finger. We expect that combining grasping capabilities this underactuated sophisticated sensing result platform research-the Tactile Model O (T-MO). The design uses three JeVois...

Tactile manipulation will be essential for automating industrial and service tasks currently done by humans. However, the application of tactile feedback to dexterous remains a challenging unsolved problem, with robot capabilities lagging far behind those Here, we present thumb (TacThumb): cheap, robust, 3-D-printed optical sensor integrated on Yale GrabLab model M2 gripper. To test capabilities, cylinder is rolled along TacThumb using opposing nontactile finger. The information permits...

The fingerprint is a morphological aspect of the human fingertip that has interesting implications for our sense touch. Previous studies focused on how affects perception stimuli excite high temporal frequencies, such as texture perception. These also only add papillary ridges to their sensors. Here, we endow biomimetic sensor with both (fingerprint) and dermal stiffness contrast (stiffer intermediate ridges), assess impact localization accuracy. based novel modular version three-dimensional...

There are a wide range of features that tactile contact provides, each with different aspects information can be used for object grasping, manipulation, and perception. In this paper inference some key features, tip displacement, location, shear direction magnitude, is demonstrated by introducing novel method transducing third dimension to the sensor data via Voronoi tessellation. The inferred displayed throughout work in new visualisation mode derived from tessellation; these visualisations...

In this letter, we have designed and built a set of tactile fingertips for integration with commercial three-fingered robot hand, the Shadow Modular Grasper. The are an evolution established optical biomimetic sensor, TacTip. developing fingertips, progressed technology in areas such as miniaturization, development custom-shaped finger-pads, multiple sensors. From these extract high-level features intuitive relationships to quantities contact location pressure. We present simple...

Tactile manipulation is the ability to control objects in real-time using sense of touch. Here we examine tactile from perspective active touch with a biomimetic sensor, which combines perception sensor location. Experiments are performed fingertip mounted as end effector robot arm, manipulate (roll) cylinder contact fingertip. Performance validated offline (cross-validation) and online (real-time operation) assessments. Location finer than resolution, leading superresolved along complex...

Here we propose and investigate a novel vibrissal tactile sensor - the Tac Whisker array based on modifying 3D-printed optical cutaneous (fingertip) TacTip. Two versions are considered: static analogous to immotile vibrissae (e.g. rodent microvib-rissae) dynamic motile macrovibrissae). Performance is assessed an active object localization task. The whisking motion of leads millimetre-scale location perception, whereas perception with relatively poor when making dabbing contacts. output...

Tactile perception methods rely on creating mappings from tactile data to percepts. In many approaches artificial perception, this involves extensive sampling of the object during training phase. We introduce here a method instead generalize features across different orientations. This is applied TacTip v2, three-dimensional printed optical sensor with internal pins acting as taxels arranged 12-fold rotational symmetry. By rotating small sample images, we are able stimuli new The was...

Here we propose and investigate a novel vibrissal tactile sensor - the TacWhisker array based on modifying 3D-printed optical cutaneous (fingertip) TacTip. Two versions are considered: static analogous to immotile vibrissae (e.g. rodent microvibrissae) dynamic motile macrovibrissae). Performance is assessed an active object localization task. The whisking motion of leads millimetre-scale location perception, whereas perception with relatively poor when making dabbing contacts. output...

There are a wide range of features that tactile contact provides, each with different aspects information can be used for object grasping, manipulation, and perception. In this paper inference some key features, tip displacement, location, shear direction magnitude, is demonstrated by introducing novel method transducing third dimension to the sensor data via Voronoi tessellation. The inferred displayed throughout work in new visualisation mode derived from tessellation; these visualisations...

Bringing tactile sensation to robotic hands will allow for more effective grasping, along with the wide range of benefits human-like touch. Here we present a 3D-printed, three-fingered robot hand comprising an OpenHand Model O customized house TacTip soft biomimetic sensor in distal phalanx each finger. We expect that combining grasping capabilities this underactuated sophisticated sensing result platform research -- Tactile (T-MO). The design uses three JeVois machine vision systems,...