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MultiTip: A multimodal mechano-thermal soft fingertip

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publication2018 IEEE International Conference on Soft Robotics (RoboSoft 2018)
Subtitle of host publicationProceedings of a meeting held 24-28 April 2018, Livorno, Italy
Publisher or commissioning bodyInstitute of Electrical and Electronics Engineers (IEEE)
Pages239-244
Number of pages6
ISBN (Electronic)9781538645161
ISBN (Print)9781538645178
DOIs
DateAccepted/In press - 1 Feb 2018
DateE-pub ahead of print - 9 Jul 2018
DatePublished (current) - 9 Jul 2018
Event1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, Italy
Duration: 24 Apr 201828 Apr 2018

Conference

Conference1st IEEE International Conference on Soft Robotics, RoboSoft 2018
CountryItaly
CityLivorno
Period24/04/1828/04/18

Abstract

In this paper we present MultiTip, a novel multimodal mechano-thermal soft tactile fingertip. In comparison to previous multimodal sensing techniques, our device uses a single optical sensor to detect both mechanical deformation and temperature change simultaneously. Our fingertip is an improved version of the TacTip, a tactile fingertip that combines compliant materials and optical tracking to perform a variety of tasks such as object manipulation, contact and pressure sensing. However, temperature sensing, which is one of the last remaining challenges to mimic the full sensory capabilities of the human finger, has been neglected as a modality in optical tactile sensors. In this work we present a novel design and fabrication method for the skin of the TacTip that enables the device to simultaneously sense local temperature change while concurrently transducing the mechanical aspects of touch. This is achieved by creating a smart skin that changes its colour due to temperature change. MultiTip achieves multimodality without adding another sensing element and is therefore ideally suited to miniaturizing the sensor. We present the characteristics of the proposed sensor in sensing mechanical deformation and temperature at the same time. Finally, we demonstrate two possible real-world applications. MultiTip thus makes an important step towards full biomimicry of the human tactile fingertip.

    Structured keywords

  • Tactile Action Perception

Event

1st IEEE International Conference on Soft Robotics, RoboSoft 2018

Duration24 Apr 201828 Apr 2018
CityLivorno
CountryItaly

Event: Conference

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  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at https://ieeexplore.ieee.org/document/8404926/ . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 9 MB, PDF document

DOI

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