Aug 2, 2012 , by
Public Summary Month 7/2012
Currently the project is held up by the embedded camera development. Although we seem to be on the verge of solving this, having today had our first image from the camera. Once proven the PCBs will be ordered and the final system assembled. 80% of embedded software has been developed included image processing on the PIC32 system. We estimate that within 4 to 5 weeks we will have the TACTIP sensor on the ELU-2 hand.
Jul 17, 2012 , by
Public Summary Month 5/2012
We are currently mid way through both integrated the TACTIP system and demonstration.
The embedded electronics are still being developed. Out of all the remaining tasks this offers the most risk in being completed in time. In order to mitigate against this risk we have recruited a further technician two days a week to focus on the embedded algorithms, whilst the main researcher and remaining technician focus on hardware integration of the image sensors, data communication and front end software interfacing. This should speed up this work dramatically in order to meet the final date.
With regards to demonstration material, a number of projects are being developed, from Elu-2 hand and 6-axis arm integration, 3d visualization of data software, and an eventual media video to document the whole project.
Jun 18, 2012 , by
Public Summary Month 3/2012
Progress towards comparison of the large and small TACTIP devices has gone well. We have completed a submission for IROS 2012 documenting the steps taken to shrink the device along side the comparison in performance measuring basic linear forces. In summary the TACTIP shows an increase in sensitivity of lower forces, but its range is limited due to a less robust assembly and softer materials used. Through some experimentation we have found that we can vary the shore hardness of the device skin, and it will alter the sensitivity and range.
Most of the mechanical development of the sensor is now complete and all focus is being made towards the embedded electronics development.
Sep 20, 2011 , by
Public Summary Month 8/2011
Since the last update, benchmark testing of the original probe and development of immature algorithms has been full under way. We have received deliver of the ABB IRB 120 arm which will in the future demonstrate the use of the TACTIP sensor.
We hope to meet the next deliverable at the end of month 8, providing benchmark metrics and algorithms, with enthusiasm to return to the integration of a smaller embedded based sensor probe.
Sep 16, 2011 , by
Public Summary Month 9/2011
The TACTIP project addresses a number of robotics issues: the need for improved tactile sensors for robot manipulators and the creation of tactile probes for many applications. Tactile probes will need to function over a range of materials with different deformation properties. In particular, robots dealing cooperatively with humans and especially, robots required to touch humans (e.g. assistive care robots, co-operative assembly robots) need improved tactile sensors. This project combines novel research work at BRL on compliant tactile sensing with our industrial robotics partners ELUMOTION to make a new design for a finger tip sensor which will augment the CORDIS listed ELU2 robot hand. Furthermore, a successful outcome will yield opportunities to exploit other (non-humanoid) robot systems, which need tactile sensing. The current (and incompletely designed) BRL tactile sensor is capable of detecting small edges and surface deformation and even a human pulse. However, it does need characterising against a set of performance metrics, which is part of the proposed experiment.
The current progress of the sensor is to benchmark the initial prototype and develope first stage algorithms to run on a desktop PC. This runs in parallel with the first stages to develop a small scale sensor.
