A Sense of Touch for the Shadow Modular Grasper

Nicholas Pestell*, Luke Cramphorn, Nathan Lepora, Fotios Papadopoulos

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

6 Citations (Scopus)
231 Downloads (Pure)


In this letter, we have designed and built a set of tactile fingertips for integration with a commercial three-fingered robot hand, the Shadow Modular Grasper. The fingertips are an evolution of an established optical biomimetic tactile sensor, the TacTip. In developing the tactile fingertips, we have progressed the technology in areas such as miniaturization, development of custom-shaped finger-pads, and integration of multiple sensors. From these fingertips, we extract a set of high-level features with intuitive relationships to tactile quantities such as contact location and pressure. We present a simple linear-regression method for predicting roll and pitch of the finger-pad relative to a surface normal and show that the method generalizes to unknown depths and shapes. Finally, we apply this prediction to a grasp-control method with the Modular Grasper and show that it can adjust the grasp on three real-world objects from the YCB object set in order to attain a greater area of contact at each fingertip.
Original languageEnglish
Article number8656557
Pages (from-to)2220-2226
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number2
Early online date1 Mar 2019
Publication statusPublished - 1 Apr 2019


  • Force and tactile sensing
  • grasping
  • perception for grasping and manipulation
  • biomimetics

Fingerprint Dive into the research topics of 'A Sense of Touch for the Shadow Modular Grasper'. Together they form a unique fingerprint.

Cite this