Discrimination-Based Perception for Robot Touch

Roscow, Emma L.; Kent, Christopher; Leonards, Ute; Lepora, Nathan F.

doi:10.1007/978-3-319-42417-0_53

Cited by 1 publication

(1 citation statement)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The TacTip was also used to investigate discrimination-based perception. 38 In that study, the TacTip was trained to discriminate between two edges of different sharpnesses and obtained a just noticeable difference (JND) of 9.2°, comparing favorably to a previously reported human JND of 8.6°.…”

Section: Applicationsmentioning

confidence: 59%

The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies

et al. 2018

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Applicationsmentioning

confidence: 59%