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MultiTip: A multimodal mechano-thermal soft fingertip

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MultiTip : A multimodal mechano-thermal soft fingertip. / Soter, Gabor; Conn, Andrew; Hauser, Helmut; Lepora, Nathan F.; Rossiter, Jonathan.

2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 239-244.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harvard

Soter, G, Conn, A, Hauser, H, Lepora, NF & Rossiter, J 2018, MultiTip: A multimodal mechano-thermal soft fingertip. in 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE), pp. 239-244, 1st IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, 24/04/18. https://doi.org/10.1109/ROBOSOFT.2018.8404926

APA

Soter, G., Conn, A., Hauser, H., Lepora, N. F., & Rossiter, J. (2018). MultiTip: A multimodal mechano-thermal soft fingertip. In 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy (pp. 239-244). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ROBOSOFT.2018.8404926

Vancouver

Soter G, Conn A, Hauser H, Lepora NF, Rossiter J. MultiTip: A multimodal mechano-thermal soft fingertip. In 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE). 2018. p. 239-244 https://doi.org/10.1109/ROBOSOFT.2018.8404926

Author

Soter, Gabor ; Conn, Andrew ; Hauser, Helmut ; Lepora, Nathan F. ; Rossiter, Jonathan. / MultiTip : A multimodal mechano-thermal soft fingertip. 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018): Proceedings of a meeting held 24-28 April 2018, Livorno, Italy. Institute of Electrical and Electronics Engineers (IEEE), 2018. pp. 239-244

Bibtex

@inproceedings{19c92913f96a4f879f74b922613c2307,
title = "MultiTip: A multimodal mechano-thermal soft fingertip",
abstract = "In this paper we present MultiTip, a novel multimodal mechano-thermal soft tactile fingertip. In comparison to previous multimodal sensing techniques, our device uses a single optical sensor to detect both mechanical deformation and temperature change simultaneously. Our fingertip is an improved version of the TacTip, a tactile fingertip that combines compliant materials and optical tracking to perform a variety of tasks such as object manipulation, contact and pressure sensing. However, temperature sensing, which is one of the last remaining challenges to mimic the full sensory capabilities of the human finger, has been neglected as a modality in optical tactile sensors. In this work we present a novel design and fabrication method for the skin of the TacTip that enables the device to simultaneously sense local temperature change while concurrently transducing the mechanical aspects of touch. This is achieved by creating a smart skin that changes its colour due to temperature change. MultiTip achieves multimodality without adding another sensing element and is therefore ideally suited to miniaturizing the sensor. We present the characteristics of the proposed sensor in sensing mechanical deformation and temperature at the same time. Finally, we demonstrate two possible real-world applications. MultiTip thus makes an important step towards full biomimicry of the human tactile fingertip.",
author = "Gabor Soter and Andrew Conn and Helmut Hauser and Lepora, {Nathan F.} and Jonathan Rossiter",
year = "2018",
month = "7",
day = "9",
doi = "10.1109/ROBOSOFT.2018.8404926",
language = "English",
isbn = "9781538645178",
pages = "239--244",
booktitle = "2018 IEEE International Conference on Soft Robotics (RoboSoft 2018)",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
address = "United States",

}

RIS - suitable for import to EndNote

TY - GEN

T1 - MultiTip

T2 - A multimodal mechano-thermal soft fingertip

AU - Soter, Gabor

AU - Conn, Andrew

AU - Hauser, Helmut

AU - Lepora, Nathan F.

AU - Rossiter, Jonathan

PY - 2018/7/9

Y1 - 2018/7/9

N2 - In this paper we present MultiTip, a novel multimodal mechano-thermal soft tactile fingertip. In comparison to previous multimodal sensing techniques, our device uses a single optical sensor to detect both mechanical deformation and temperature change simultaneously. Our fingertip is an improved version of the TacTip, a tactile fingertip that combines compliant materials and optical tracking to perform a variety of tasks such as object manipulation, contact and pressure sensing. However, temperature sensing, which is one of the last remaining challenges to mimic the full sensory capabilities of the human finger, has been neglected as a modality in optical tactile sensors. In this work we present a novel design and fabrication method for the skin of the TacTip that enables the device to simultaneously sense local temperature change while concurrently transducing the mechanical aspects of touch. This is achieved by creating a smart skin that changes its colour due to temperature change. MultiTip achieves multimodality without adding another sensing element and is therefore ideally suited to miniaturizing the sensor. We present the characteristics of the proposed sensor in sensing mechanical deformation and temperature at the same time. Finally, we demonstrate two possible real-world applications. MultiTip thus makes an important step towards full biomimicry of the human tactile fingertip.

AB - In this paper we present MultiTip, a novel multimodal mechano-thermal soft tactile fingertip. In comparison to previous multimodal sensing techniques, our device uses a single optical sensor to detect both mechanical deformation and temperature change simultaneously. Our fingertip is an improved version of the TacTip, a tactile fingertip that combines compliant materials and optical tracking to perform a variety of tasks such as object manipulation, contact and pressure sensing. However, temperature sensing, which is one of the last remaining challenges to mimic the full sensory capabilities of the human finger, has been neglected as a modality in optical tactile sensors. In this work we present a novel design and fabrication method for the skin of the TacTip that enables the device to simultaneously sense local temperature change while concurrently transducing the mechanical aspects of touch. This is achieved by creating a smart skin that changes its colour due to temperature change. MultiTip achieves multimodality without adding another sensing element and is therefore ideally suited to miniaturizing the sensor. We present the characteristics of the proposed sensor in sensing mechanical deformation and temperature at the same time. Finally, we demonstrate two possible real-world applications. MultiTip thus makes an important step towards full biomimicry of the human tactile fingertip.

UR - http://www.scopus.com/inward/record.url?scp=85050701097&partnerID=8YFLogxK

U2 - 10.1109/ROBOSOFT.2018.8404926

DO - 10.1109/ROBOSOFT.2018.8404926

M3 - Conference contribution

SN - 9781538645178

SP - 239

EP - 244

BT - 2018 IEEE International Conference on Soft Robotics (RoboSoft 2018)

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -