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A Sense of Touch for the Shadow Modular Grasper

Research output: Contribution to journalArticle

Original languageEnglish
Article number8656557
Pages (from-to)2220-2226
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number2
Early online date1 Mar 2019
DateAccepted/In press - 6 Feb 2019
DateE-pub ahead of print - 1 Mar 2019
DatePublished (current) - 1 Apr 2019


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.

    Research areas

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

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    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 5.73 MB, PDF document


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