Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

  title={Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands},
  author={Nathan F. Lepora and Andrew Stinchcombe and Chris Ford and Alfred Brown and John Lloyd and Manuel Giuseppe Catalano and Matteo Bianchi and Benjamin Ward-Cherrier},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
In this work, we report on how a sense of touch can be used to control an underactuated anthropomorphic robot hand, based on an integration that respects the hand’s mechanical functionality. Our focus is on integrating the sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic optical tactile sensor. We consider: (i) closed-loop tactile control to establish… Expand
1 Citations
Soft Biomimetic Optical Tactile Sensing With the TacTip: A Review
  • N. Lepora
  • Computer Science
  • IEEE Sensors Journal
  • 2021
This article reviews the BRL TacTip as a prototypical example of a SoftBOT (Soft Biomimetic Optical Tactile) sensor and discusses the relation between artificial skin morphology and the transduction principles of human touch. Expand


A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand
A platform to contribute to that long-term vision, combining an anthropomorphic robot hand (QB SoftHand) with a neuromorphic optical tactile sensor (neuroTac) to produce efficient, spike-based representations of information for bio-inspired processing. Expand
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Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2
A novel robotic hand, the Pisa/IIT SoftHand 2.0, which demonstrates that by opportunely combining only two DoAs with hand softness, a large variety of grasping and manipulation tasks can be performed, only relying on the intelligence embodied in the mechanism. Expand
Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond
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A Sense of Touch for the Shadow Modular Grasper
This letter designs and builds a set of tactile fingertips for integration with a commercial three-fingered robot hand, the Shadow Modular Grasper, and presents a simple linear-regression method for predicting roll and pitch of the finger-pad relative to a surface normal and shows that the method generalizes to unknown depths and shapes. Expand
Trends and challenges in robot manipulation
The progress made in robotics to emulate humans’ ability to grab, hold, and manipulate objects is reviewed, with a focus on designing humanlike hands capable of using tools. Expand
Tactile Manipulation With a TacThumb Integrated on the Open-Hand M2 Gripper
A cheap, robust, 3-D-printed optical tactile sensor integrated on the Yale GrabLab model M2 gripper gives a demonstration of basic tactile manipulation without the need for a kinematic model of the hand, in a manner that should generalize to other tactile manipulation tasks. Expand
GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation
The extensive experiments show that the GelTip sensor can effectively localise the contacts on different locations its finger-shaped body, with a small localisation error of approximately 5 mm, on average, and under 1 mm in the best cases. Expand
Tactile sensing in dexterous robot hands - Review
Current state-of-the-art of manipulation and grasping applications that involve artificial sense of touch that involve algorithms and tactile feedback-based control systems that exploit signals from the sensors are reviewed. Expand
A novel type of compliant and underactuated robotic hand for dexterous grasping
RBO Hand 2 is presented, a highly compliant, underactuated, robust, and dexterous anthropomorphic hand that is inexpensive to manufacture and the morphology can easily be adapted to specific applications, and it is demonstrated that complex grasping behavior can be achieved with relatively simple control. Expand