Exploiting sensor symmetry for generalized tactile perception in biomimetic touch

EPSRC grant on tactile superresolution sensing (EP/M02993X/1).

The following data was obtained from the TacTip, an optical tactile sensor integrated on a 6-dof robotic arm. Data was collected for edge orientation in 1 degree increments over a 360 degree range, and for contour following experiments location and identity data was collected over 360 deg (5 degree increments) and a 20 mm range (1 mm increments) across the edge. Data was then generalized using sensor symmetry from the first 30 degrees of collected data, and used to demonstrate contour following with the TacTip using generalized data.