Corpus ID: 231839404

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

@article{Lepora2021TowardsIT,
  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={ArXiv},
  year={2021},
  volume={abs/2102.03318}
}
In this work, we report on the integrated 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 based on the human sense of touch. Our focus is how a sense of touch can be used to control an anthropomorphic hand with one degree of actuation, based on an integration that respects the hand’s mechanical functionality. We consider: (i… Expand
1 Citations
Soft Biomimetic Optical Tactile Sensing With the TacTip: A Review
  • N. Lepora
  • Computer Science
  • IEEE Sensors Journal
  • 2021
TLDR
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

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