Soft Biomimetic Optical Tactile Sensing With the TacTip: A Review

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...

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Veröffentlicht in:IEEE sensors journal Jg. 21; H. 19; S. 21131 - 21143
1. Verfasser: Lepora, Nathan F.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Automation
Biomedical optical imaging
Biomimetics
End effectors
Force and tactile sensing
haptics
manipulation
Manufacturing engineering
Morphology
Optical sensors
robot dexterity
Robot sensing systems
Robots
Sensors
Skin
Soft robotics
Tactile discrimination
Tactile sensors
Tactile sensors (robotics)
tactip sensor
Three dimensional printing
Touch
ISSN:1530-437X, 1558-1748
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Zusammenfassung: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.
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ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2021.3100645