Texture Identification of Objects Using a Robot Fingertip Module with Multimodal Tactile Sensing Capability

Modern robots fall behind humans in terms of the ability to discriminate between textures objects. This is due fact that lack detect various tactile modalities are required Hence, our research team developed a robot fingertip module can objects via direct contact. based on sensor with multimodal (3-axis force and temperature) sensing capabilities. The was able forces vertical (Z-axis) direction as small 0.5 gf showed low hysteresis error repeatability less than 3% 2% measurement range 0–100 gf, respectively. Furthermore, horizontal (X- Y-axes) 20 mN could 3-axis an average cross-talk 3%. In addition, demonstrated its capability by exhibiting near-linear output over temperature 23–35 °C. mounted motorized stage 16 texture samples four (hardness, friction coefficient, roughness, thermal conductivity).