Tactile sensors provide a pressure or contact profile, similar to touch we feel on our skin. They offer rich feedback about the grasping process and are thus essential for adaptive and sensitive grasping processes. Our camera-based solution requires only a passive and deformable material, which deforms on pressure. Our image processing software derives a tactile signal from the observed deformation.
Camera-based sensing technology is patented and was developed at Technical University of Munich (TUM).
Drag the objects to the finger to see the tactile profile
Details An external, nearby or “eye-in-hand” camera observes the robot. This remote sensing approach avoids errors by decalibration and ensures results coherent with the outside world. Also, the camera is co-used for other tasks like object recognition and bin picking.
Details Sensor data are calculated virtually by a computer vision software, observing the robot with a camera. Electronic components and cabling required by standard hardware sensors are replaced with a software solution!
Details The sensitive element is simple, low-cost and completely passive: Quick assembly and replacement, no wiring required!
Details The sensor provides a pressure profile along the sensor, from which contact forces, grasp quality, object position/orientation/shape and softness are extracted. The resolution is up to 0.2N / 1mm.
Just boot your computer from the included USB stick with our ROS-based sensor software, connect the camera and point it to the sensitive element (rubber foam bar). Our web-based interface will show you the measured force and pressure profile. You can choose between a stand-alone sensitive element or a pair of 3D-printed fingers for various grippers. A calibrated camera is optionally included, gripper and PC are not included.
You need a modern standard PC to run the software: i7 CPU recommended, 8GB of RAM, compatible with booting from USB and Ubuntu Linux.
Fingers with rubber foam layer (sensitive element) for various grippers, or stand-alone sensor
Pre-calibrated USB3 camera with ROS driver (optional)
Sensor software with ROS integration and a web-based interface for sensor data. The software is provided on a bootable, ready-to-use USB stick.
|Application||Gripper finger, eye-in-hand camera||High-end camera|
|Deformable element||EPDM (Rubber foam)|
|Sensor length *||20 to 150 mm typ.|
|Data points||1x20 to 1x150 (1 point/mm length)|
|Maximum pressure *||100 kPa – 1 MPa|
|Trigger level||5% typ.|
|Noise level||2% typ.|
|Sampling rate||60-120 Hz (camera framerate)|
|Software||Sensor software running on ROS/Linux|
|Camera||USB3 Vison, Standard USB UVC, etc.|
*: Adjustable values
Values are given for a typical camera setup: Full HD camera, 30 cm distance.