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.