MC-Tac

Open Source of Modular Camera-based Tactile Sensor for Robot Gripper

Overview

We proposed a modular camera-based tactile sensor for robot gripper, which facilitates fabrication and integration process of tactile sensors for various robot grippers and fingers.
This paper was first publised on ICIRA2023.

Hardware

Proposed tactile sensor is consist with adaptive connector for various gripper, as well as commerial and purchasable elements (silicon gel, acrylic, LED ring board, micro-camera module). This design balances the performance, adaptability, and the fabricated convenience of propused sensor. The 3D print .stl files are stored in the hardware folder.

• HolderSlimW is the connector;
  
• Supportor is the receptor which supports camera, LED, acrylic, gel;
  
• Diffusor is the subdued light board for uniform illumination;
  
• Acrylic is the acrylic board (can be cut by Laser cutting machine);
  
• GelModeA can pouring the gel layer with acrylic board directly.;
  
• GelModeB can pouring the large layer of gel, then cutting by laser cutting machine, painting reflect layer, and be sticked on acrylic piece.
  
  

Acknowledge

This work is strong inspired by GelSlim and GelSight et al.
If this work inspires your research, please cite BibTeX:

@inproceedings{Ren2023MC-Tac,
  title={MC-{T}ac: Modular Camera-based Tactile Sensor for Robot Gripper},
  author={Ren, Jieji and Zou, Jiang and Gu, Guoying},
  booktitle={The 16th International Conference on Intelligent Robotics and Applications (ICIRA2023)},
  year={2023},
  organization={Springer}
}