On the hardware side, the existing 3-axis tactile sensors were developed further with a fluid reservoir, which increases their softness and decreases the sensor’s hysteresis. Novel 3-axis capacitive tactile sensors were developed, which are not susceptible to magnetic interference. Combined force and proximity tactile sensors were developed, for enhanced safety in human-robot interaction. A novel hand with remote center of motion mechanisms was implemented, so that thick tactile sensors can also cover the joints of the robot hand.

On the software side, our tactile sensors were used for slip detection and prediction, as well as for in hand manipulation.