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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| Published in | IEEE sensors journal Vol. 21; no. 19; pp. 21131 - 21143 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
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| Abstract | 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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| AbstractList | 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. |
| Author | Lepora, Nathan F. |
| Author_xml | – sequence: 1 givenname: Nathan F. orcidid: 0000-0001-5327-1523 surname: Lepora fullname: Lepora, Nathan F. email: n.lepora@bristol.ac.uk organization: Department of Engineering Mathematics, Faculty of Engineering, University of Bristol, Bristol, U.K |
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| SubjectTerms | 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 |
| Title | Soft Biomimetic Optical Tactile Sensing With the TacTip: A Review |
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