BioIn-Tacto: A compliant multi-modal tactile sensing module for robotic tasks

Area of Science:

• Robotics
• Materials Science
• Sensor Technology

Background:

• Robotic end-effectors require advanced tactile sensing for complex manipulation tasks.
• Existing tactile sensors can be expensive, difficult to fabricate, or lack multimodal capabilities.

Purpose of the Study:

• To present an open-source, compliant multimodal tactile sensing module design.
• To enable robotic end-effectors to sense pressure, vibration, and deformation.
• To provide an accessible fabrication process using 3D printing.

Main Methods:

• Developed a compliant tactile sensing module using 3D printed molds and a vacuum chamber.
• Integrated off-the-shelf Microelectromechanical (MEMs) barometers and Magnetic, Angular Rate and Gravity (MARG) systems.
• Released all hardware Computer-Aided Design (CAD) files and software source codes, including Robot Operating System (ROS) packages.

Main Results:

• Fabrication process is accessible, allowing for production batches of up to five modules.
• The module can sense contact properties like pressure and vibration.
• The system estimates deformation using a quaternion representation.

Conclusions:

• The developed tactile sensing module is easily assembled, modified, and deployed.
• The open-source nature and accessible fabrication promote wider adoption in robotics.
• The design allows for sensor component customization based on application needs.