WormTIP: An invertebrate inspired active tactile imaging pneumostat

Andrew D. Hinitt*, Jonathan Rossiter, Andrew T. Conn

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

6 Citations (Scopus)


WormTIP is a novel lightweight self-actuating exploratory sensor, using a pneumostatic vessel and a dielectric elastomeric actuator (DEA) to create an active sensory tip capable of object shape determination as part of a flexible soft robot. Utilising the coupling of a static fluid vessel, the DEA is paired with a sensory membrane with internal papillae mimicking the internal morphology found in the fingertip. The sensory membrane is extended onto an object, conforming to its surface. Experimental results are presented which show the detection of shapes using particle velocimetry and papillae density analysis. These are preliminary results which show the potential of the WormTIP, which is the focus of ongoing work. The device is aimed for use as a self-contained palpating sensor, or as an attachment to a bio-inspired robotic worm forming a self-contained exploratory vehicle with the device acting as the sensory appendage or proboscis.
Original languageEnglish
Title of host publicationProceedings of 4th International Conference on Biomimetic and Biohybrid Systems
Subtitle of host publicationLiving Machines 2015
EditorsPaul F.M.J. Verschure, Stuart P. Wilson, Tony J. Prescott, Anna Mura
PublisherSpringer Verlag
Number of pages12
ISBN (Electronic)978-3-319-22979-9
ISBN (Print)978-3-319-22978-2
Publication statusPublished - 28 Jul 2015
Event4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015 - Barcelona, Spain
Duration: 28 Jul 201531 Jul 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015

Structured keywords

  • Tactile Action Perception


  • DEA
  • EAP
  • Exploratory
  • Proboscis
  • Tactile sensing
  • WormTIP

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