Exploratory tactile servoing with active 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 contour following experiments location and identity data was collected over 90 deg (10 degree increments) and a 20 mm range (1 mm increments) across the edge. Data was then used to demonstrate contour following on 3 stimuli (a circular edge, a volute edge and a volute ridge) with the TacTip.
Date made available14 Feb 2017
PublisherUniversity of Bristol


  • Tactile servoing
  • Active touch

Research Output

  • 1 Article (Academic Journal)

Exploratory Tactile Servoing With Active Touch

Lepora, N., Aquilina, K. & Cramphorn, L. P., Apr 2017, In : IEEE Robotics and Automation Letters. 2, 2, p. 1156-1163 8 p.

Research output: Contribution to journalArticle (Academic Journal)

Open Access
  • 28 Citations (Scopus)
    365 Downloads (Pure)

    Cite this

    Aquilina, K. (Creator), Lepora, N. (Creator), Cramphorn, L. (Creator) (14 Feb 2017). Exploratory tactile servoing with active touch. University of Bristol. 10.5523/bris.aucjuckl1ge82gx7c5nl9gdtd