Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand

• DOI: 10.48550/arxiv.1907.07535
• Publication Date: 2019-01-01
• Authors: Jasper W. James; Alex Church; Luke Cramphorn; Nathan F. Lepora
• Keywords: Tactile sensor; Benchmark (surveying); 3d printed; Underactuation

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, miniature camera fingertip processing module base hand. To evaluate T-MO, benchmark its performance using Gripper Assessment Benchmark on YCB object set. are evaluated by performing classification 26 objects and predicting whether grasp successfully lift object. Results consistent state art, taking advantage advances deep learning applied image outputs. Overall, work demonstrates T-MO is it open-up applications autonomous handling. Supplemental video: https://youtu.be/RTcCpgffCrQ.