Braille-tip: Structured Small-Footprint Tactile Sensor for High Acuity Dynamic Tactile Tasks

Research output: Contribution to conferenceConference Paperpeer-review


Visually impaired people who do not read Braille are excluded from engaging in situations where Braille options may suffice for their Braille-literate counterparts. Braille-tip is a compact soft tactile sensor (11mmdiameter) which can be mounted on a standard pen and is designed to dynamically assist with reading and learning Braille. Fluid channels are used to transmit tactile information from 19 soft taxel membranes to a single camera. A Braille-tip prototype is fabricated using silicone elastomer and tubing. Its sensory response is calibrated to successfully detect 52 raised Braille dots on embossed cardboard, and its functionality is demonstrated by reading Braille aloud. The compact size and dense layout of taxels over the sensor membrane means that it makes a good candidate for general high acuity, low-force tasks and demonstrates the possibility of incorporating it into items for everyday life.
Original languageEnglish
Publication statusSubmitted - 5 Feb 2024


  • Soft Robot Applications
  • Soft Sensors and Actuators
  • Dexterous Manipulation
  • Braille
  • Visually impaired
  • Tactile devices
  • Handheld device


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