TACTIP - Tactile Fingertip Device, Texture Analysis through Optical Tracking of Skin Features

• Published in: Biomimetic and Biohybrid Systems pp. 323 - 334
• Main Authors: Winstone, Benjamin, Griffiths, Gareth, Pipe, Tony, Melhuish, Chris, Rossiter, Jonathon
• Format: Book Chapter
• Language: English
• Published: Berlin, Heidelberg Springer Berlin Heidelberg
• Series: Lecture Notes in Computer Science
• Subjects: Optical Tracking; Pacinian Corpuscle; Robot Hand; Tactile Sensor; Texture Recognition
• ISBN: 9783642398018; 3642398014
• ISSN: 0302-9743; 1611-3349
• DOI: 10.1007/978-3-642-39802-5_28

In this paper we present texture analysis results for TACTIP, a versatile tactile sensor and artificial fingertip which exploits compliant materials and optical tracking. In comparison to previous MEMS sensors, the TACTIP device is especially suited to tasks for which humans use their fingertips; examples include object manipulation, contact sensing, pressure sensing and shear force detection. This is achieved whilst maintaining a high level of robustness. Previous development of the TACTIP device has proven the device’s capability to measure force interaction and identify shape through edge detection. Here we present experimental results which confirm the ability to also identify textures. This is achieved by measuring the vibration of the in-built human-like skin features in relation to textured profiles. Modifications to the mechanical design of the TACTIP are explored to increase the sensitivity to finer textured profiles. The results show that a contoured outer skin, similar to a finger print, increases the sensitivity of the device.