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Aug 10, 2023

The Sensor Enhancing Robotic Tactile Sensing

Achieving human-level dexterity in robotics requires a reliable sense of tactile information and force. A recent study introduces the L3 F-TOUCH sensor, which enhances force sensing capabilities for

Achieving human-level dexterity in robotics requires a reliable sense of tactile information and force. A recent study introduces the L3 F-TOUCH sensor, which enhances force sensing capabilities for robot hands and graspers. This lightweight, low-cost, and wireless sensor can be easily incorporated into existing robotic systems.

The human hand has the ability to sense pressure, temperature, texture, and pain. It can also distinguish between objects based on their shape, size, weight, and other physical properties. In contrast, many current robot hands lack integrated haptic capabilities, which makes handling objects more challenging.

The L3 F-TOUCH sensor, developed by Professor Kaspar Althoefer and his team at Queen Mary University of London, is a high-resolution fingertip sensor. It can measure an object’s geometry and determine the forces required to interact with it. Unlike other sensors that estimate interaction forces through camera images, the L3 F-TOUCH measures forces directly, providing higher measurement accuracy.

The sensor is designed to decouple force measurements from geometry information, ensuring that the measured force is not affected by contact geometry. It outperforms competitors in terms of integrability with robot hands, thanks to its embedded wireless communication capabilities.

The sensor features a compact suspension structure that allows for the measurement of high-resolution contact geometry when it touches a surface. The elastomer, a deformable rubber-like material, displaces upon contact, and its movement is tracked using a special marker. Through this process, contact forces along the three major axes (x, y, and z) are accurately measured via calibration.

Future work on the sensor will focus on expanding its capabilities to measure rotational forces, such as twist, to enable even more dynamic and agile robots in manipulation tasks. This breakthrough opens up possibilities for applications in human-robot interaction settings, such as patient rehabilitation and physical support for the elderly.

The development of the L3 F-TOUCH sensor represents a significant step towards achieving human-like dexterity in robotics. By providing robots with a sense of touch, they can handle objects more effectively and perform complex manipulation tasks with greater ease.

Source: Wanlin Li et al, L3 F-TOUCH: A Wireless GelSight With Decoupled Tactile and Three-Axis Force Sensing, IEEE Robotics and Automation Letters (2023). DOI: 10.1109/LRA.2023.3292575