Tactile Model O: Fabrication and Testing of a 3D-Printed, Three-Fingered Tactile Robot Hand

James, Jasper W.; Church, Alex; Cramphorn, Luke; Lepora, Nathan F.

doi:10.1089/soro.2020.0019

Cited by 36 publications

(33 citation statements)

References 42 publications

(81 reference statements)

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“…The first image (a) is of a three-fingered tactile robot hand comprising a TacTip optical biomimetic tactile sensor in each finger. [101] The principal design featuring the TacTip family [101] Copyright 2020, The Authors, published by Mary Ann Liebert, Inc. b) Printed soft capacitive sensor with capacitanceto-digital converter chip on a PCB. Reproduced with permission.…”

Section: Mechanical Sensing Robotmentioning

confidence: 99%

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New Frontiers in 3D Structural Sensing Robots

Kaur

Kim

2021

Advanced Materials

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robots are also capable to form strong emotional bonds with humans such as in robotic pets. [8] For these tasks, the robots are able to detect and realize the human's needs such as health condition and emotional states. Hence, it is essential to design the robots with specific functionalities to be "sensing robots." The sensing robots refer the robot platforms with sensing functionalities to detect environmental stimuli or changes by taking over one or more complex tasks from human. To develop sensing robots that are responsive to the surrounding complex environments, sensors and their supporting circuits should be integrated into the robotic bodies. First, it is important to design sensors that have good sensitivity and reliability to track any changes in the environment and to transfer data to a monitoring unit. [9] Next, the structure of sensors should be embedded in the internal or external space of robots without hindering the motions of the robotic body for data acquisitions. [10] Lastly, to assist the robots to act, a well-responsive, closed-loop system is mandatorily required. [11,12] Based on these, a futuristic robot equipped with sensors will have good performance for monitoring real-time events and will have the advanced diagnostics to provide immediate feedback of the surrounding changes during sensing. [12] In terms of sensor designs, we are still far from developing a sensor that can be used in practical sensing robots. Although earlier research works regarding 2D [13,14] or planar sensors [14,15] with high performance and good flexibilities have been extensively reported for their applications as irregularly shaped body parts such as wearables or e-skin based sensors, [16] these developed sensors are still insufficient for sensing robots due to various challenges including electronic or structural integration, stable positioning of sensors during robot actuation, and more difficult data processing derived from the complex structure for the robot actuation. [17][18][19] Therefore, beyond merely using 2D types of sensors, 3D sensors integrated into 3D objects are naturally suggested as the next-generation sensors and are employed in sensing robots to overcome their geometrical barriers for sensor integrations. [18][19][20] This is because such 3D structural approaches enable to integrate sensing parts, actuators, and their computation as one system into the 3D structures. [18,21] Additionally, one more dimensional design of electrical components allows to add more circuit systems into the limited internal space of Advanced robotics is the result of various contributions from complex fields of science and engineering and has tremendous value in human society. Sensing robots are highly desirable in practical settings such as healthcare and manufacturing sectors through sensing activities from human-robot interaction. However, there are still ongoing research and technical challenges in the development of ideal sensing robot systems. The sensing robot should synergically merge sensors and robotics. Geo...

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Section: Mechanical Sensing Robotmentioning

confidence: 99%

“…a) Tactile sensor: Side view showing how the smaller TacTip fits into the distal phalanx. Reproduced under the terms of the CC-BY 4.0 license [101]. Copyright 2020, The Authors, published by Mary Ann Liebert, Inc. b) Printed soft capacitive sensor with capacitanceto-digital converter chip on a PCB.…”

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confidence: 99%

New Frontiers in 3D Structural Sensing Robots

Kaur

Kim

2021

Advanced Materials

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“…Perhaps surprisingly, the role of the human fingerprint in the sense of touch is still being investigated [49] after two centuries of study. A 3D-printed fingerprint can be reproduced in the TacTip as raised bumps [37], [41] or concentric raised rings over the papillae [50]. Benefits of a biomimetic fingerprint include increased sensitivity to texture [37] and spatial localisation [41].…”

Section: Soft Biomimetic Optical Tactile Sensing: the Tactipmentioning

confidence: 99%

“…Benefits of a biomimetic fingerprint include increased sensitivity to texture [37] and spatial localisation [41]. A ringed biomimetic fingerprint can also induce incipient slip [50], where a local region of skin slips in detectable way before the grip slips [35], [36].…”

Section: Soft Biomimetic Optical Tactile Sensing: the Tactipmentioning

confidence: 99%

“…These tendon-driven, 2-4 fingered compliant hands have an underactuated adaptability [6], TacTip-GR2 [71], TacTip-M2 [69], TacCylinder [70], TacTip-O [50], TacTip-SoftHand [30], TacFoot [76] and TacWhisker [73]. SoftBOT hands (middle row): tactile Model-M2 [69], tactile Model-GR2 [71], tactile Model-O [50], tactile Shadow Modular Grasper [74] and tactile SoftHand [30]. SoftBOT systems (bottom row): 3D-printed TacTip on ABB robot arm for tactile servo control [46], [77], TacTip on UR5 arm for reinforcement learning [75], TacFoot on walking robot [76], tactile Model-O on UR5 robot arm for grasping and slip detection [36], [50] and tacWhisker mounted on ABB robot arm [73].…”

Section: A 3d-printed Tactip and Integration Into Robot Handsmentioning

confidence: 99%

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Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review

Lepora

2021

Preprint

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<div>Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics, biomimetics and the high-resolution sensing offered by optical tactile sensors. This combination is considered here as a SoftBOT (Soft Biomimetic Optical Tactile) sensor. This article reviews the BRL TacTip as a prototypical example of such a sensor. Topics include the relation between artificial skin morphology and the transduction principles of human touch, the nature and benefits of tactile shear sensing, 3D printing for fabrication and integration into robot hands, the application of AI to tactile perception and control, and the recent step-change in capabilities due to deep learning. This review consolidates those advances from the past decade to indicate a path for robots to reach human-like dexterity.</div><div><br></div>

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