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MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14271))

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Abstract

Camera-based tactile sensors provide a convenient and low-cost approach for robot tactile perception. However, existing sensors are customized and only suit limited robots, which retards tactile applications. In this work, we proposed a modular design for camera-based tactile sensor to facilitate their integration on various robot grippers and fingers. Specifically, we disassemble tactile sensors into sense module for sensing surface interaction, receptor module for arranging camera, illumination, and structure elements, and adapter module for connection with robot gripper. Experiments show the proposed sensors can adopt various robot grippers and achieve high tactile perception performance.

This work was partly supported by the NSFC No. 52275024, and in part by Natural Science Foundation of Shanghai under Grant 23ZR1435500. Project designs can be found at: https://github.com/Tacxels/MC-Tac.

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Author information

Authors and Affiliations

  1. Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China

    Jieji Ren, Jiang Zou & Guoying Gu

  2. School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, 200240, Shanghai, China

    Jieji Ren, Jiang Zou & Guoying Gu

Authors
  1. Jieji Ren
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  2. Jiang Zou
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  3. Guoying Gu
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Corresponding author

Correspondence to Guoying Gu .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Ren, J., Zou, J., Gu, G. (2023). MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_15

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  • DOI: https://doi.org/10.1007/978-981-99-6495-6_15

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6494-9

  • Online ISBN: 978-981-99-6495-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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