Abstract
Advanced tactile capabilities could help new generations of robots work co-operatively with people in a wider sphere than these devices have hitherto experienced. Robots could perform autonomous manipulation tasks and exploration of their environment. These applications require a thorough characterisation of the force measurement capabilities of tactile sensors. For this reason, this work focuses on the characterisation of the force envelope of the biomimetic, low-cost and robust TacTip sensor. Comparison with a traditional load cell shows that when identifying low forces and changes in position the TacTip proves significantly less noisy.
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Acknowledgments
NL and MEG were supported by the EP/M02993X/1 EPSRC grant on Tactile Superresolution Sensing.
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Giannaccini, M.E., Whyle, S., Lepora, N.F. (2016). Force Sensing with a Biomimetic Fingertip. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_43
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DOI: https://doi.org/10.1007/978-3-319-42417-0_43
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