The TacTip project: Biomimetic 3d-printed optical tactile sensors
Benjamin Ward-Cherrier, Nick Pestell, Luke Cramphorn, Benjamin Winstone,
Maria Elena Giannaccini, Jonathan Rossiter and Nathan F. Lepora
Bristol Robotics Laboratory, University of Bristol
Tactile sensing is an essential component in human-robot interaction and object manipulation. Here we present the TacTip family, a range of 3D-printed optical tactile sensors with various morphologies. All of these sensors are based on the same design principle: tracking biomimetic pins based on the intermediate ridges in human fingers. The performance of the TacTip, TacTip-GR2, TacTip-M2 and TacCylinder sensors are here evaluated to sub-millimeter accuracy on a rolling cylinder task. Our sensors are designed for a range of real-world applications in tactile perception, exploration and manipulation which will advance research and form the basis of further innovation in tactile sensing.