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={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  pages={1622-1628}
}
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
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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