Tactile Robotics Laboratory
Projects
This page describes some of our ongoing research projects
Tactile Servoing
PhD Thesis, 2017. Best Thesis Award (2nd place, France)
Control – oriented research direction that tackles general problems of steering a physical contact between a robot arm and the environment via tactile sensing arrays. Firstly, it is important to understand what to control and how to derive these “what to control”. We describe tactile features representing this “what” and robot arm control algorithm in our paper (Touch driven controller and tactile features for physical interactions, Robotics and Autonomous Systems, 2020)
Control – oriented research direction that tackles general problems of steering a physical contact between a robot arm and the environment via tactile sensing arrays. Firstly, it is important to understand what to control and how to derive these “what to control”. We describe tactile features representing this “what” and robot arm control algorithm in our paper (Touch driven controller and tactile features for physical interactions, Robotics and Autonomous Systems, 2020)
Optical Tactile Sensors
Fabrication – oriented direction that focuses on a general use of transparent silicone and image cameras connected via plastic optical fibers in detecting physical contacts between the robot end-effectors and the environment. First approach used reflection, which was created using the magnetron spattering method, Color-Coded tactile sensor ICRA2019 and the second method was based on detecting changes of color due to mechanical shear and strain Shear and Protrusion Sensor (RA-L with ICRA2020)
PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
The sensor measures the force based on the PhotoElastic effect observed in the silicone matter. The polarized light within the silicone rubber is subjected to the phase-shift when the silicone is pressed. Force estimated is proportional to the light received by the camera. This paper has been published in Sensors as part of the Special Issue Advances in Bio-Inspired Skin-Like Sensor Technologies, 2022.
https://youtu.be/s9dM9OUDbQg
https://youtu.be/s9dM9OUDbQg
Magnetic field-based tactile sensors
Fabrication – oriented direction that focuses on investigating methods of using of magnets and magnetic field sensors as tactile sensing devices. The use of the Hall-effect sensor that detectects the distance to the magnet attached onto a spring is described in IROS 2018 conference publication: Magnetic Tactile Sensor.
Magnetic field-based tactile sensors
Fabrication – oriented direction that focuses on investigating methods of using of magnets and magnetic field sensors as tactile sensing devices. The use of the Hall-effect sensor that detectects the distance to the magnet attached onto a spring is described in IROS 2018 conference publication: Magnetic Tactile Sensor.
