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TACTIP - Tactile fingertip device, challenges in reduction of size to ready for robot hand integration

Winstone, Benjamin; Griffiths, Gareth

Authors

Benjamin Winstone benjamin2.winstone@uwe.ac.uk

Gareth Griffiths gareth4.griffiths@uwe.ac.uk



Abstract

Previous work on the TACTIP project has demonstrated a prototype tactile fingertip device, at a little over twice the diameter(40mm) of a human fingertip (16-20mm). Unlike most other developed MEMS sensors, the TACTIP device is appropriate for all 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 very high level of robustness. Further work with this concept has reduced the size of the device to that closely matching the range of a human fingertip (20mm). Previous development of the TACTIP device has in isolation, proven the potential for these applications, but not provided a benchmark specification of its technical performance. This paper presents benchmarking results from testing pressure and shear force readings using both versions of the TACTIP designs with comparisons that highlight the compromises encountered when reducing the physical build size of the device. The results show that a reduced size device offers greater sensitivity under lower forces, but cannot be subjected to the greater forces that the larger device can.

Citation

Winstone, B., & Griffiths, G. (2012, December). TACTIP - Tactile fingertip device, challenges in reduction of size to ready for robot hand integration. Paper presented at 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)

Presentation Conference Type Conference Paper (unpublished)
Conference Name 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
Start Date Dec 11, 2012
End Date Dec 14, 2012
Publication Date Dec 11, 2012
Peer Reviewed Peer Reviewed
Pages 160-166
Keywords tactile sensing, biomimetic, fingertip, sensor, robotics
Publisher URL http://dx.doi.org/10.1109/ROBIO.2012.6490960
Additional Information Additional Information : © 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Title of Conference or Conference Proceedings : 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)

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