8 accepted papers
In this letter, we have designed and built a set of tactile fingertips for integration with a commercial three-fingered robot hand, the Shadow Modular Grasper. The fingertips are an evolution of an established optical biomimetic tactile sensor, the TacTip. In developing the tactile fingertips, we ha
Here we propose and investigate a novel vibrissal tactile sensor - the Tac Whisker array - based on modifying a 3D-printed optical cutaneous (fingertip) tactile sensor - the TacTip. Two versions are considered: a static Tac Whisker array analogous to immotile tactile vibrissae (e.g. rodent microvib-…
There are a wide range of features that tactile contact provides, each with different aspects of information that can be used for object grasping, manipulation, and perception. In this paper inference of some key tactile features, tip displacement, contact location, shear direction and magnitude, is…
The fingerprint is a morphological aspect of the human fingertip that has interesting implications for our sense of touch. Previous studies focused on how the fingerprint affects the perception of stimuli that excite high temporal frequencies, such as for texture perception. These studies also only
Tactile perception methods rely on creating mappings from tactile data to percepts. In many approaches to artificial tactile perception, this involves extensive sampling of the object during the training phase. We introduce here a method to instead generalize tactile features across different orient
A key unsolved problem in tactile robotics is how to combine tactile perception and control to interact robustly and intelligently with the surroundings. Here, we focus on a prototypical task of tactile exploration over surface features such as edges or ridges, which is a principal exploratory proce
Tactile manipulation will be essential for automating industrial and service tasks currently done by humans. However, the application of tactile feedback to dexterous manipulation remains a challenging unsolved problem, with robot capabilities lagging far behind those of humans. Here, we present the
Tactile manipulation is the ability to control objects in real-time using the sense of touch. Here we examine tactile manipulation from the perspective of active touch with a biomimetic tactile sensor, which combines tactile perception with control of sensor location. Experiments are performed with…