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Tactile Sensor Elements based on Commercial Components: An Experimental Comparison
Gross, Sonja Pozo Fortunić, Edmundo Ringwald, Johannes Ganguly, Amartya Haddadin, Sami
Gross, Sonja
Pozo Fortunić, Edmundo
Ringwald, Johannes
Ganguly, Amartya
Haddadin, Sami
Supervisor
Department
Robotics
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Type
Journal article
Date
2025
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Language
English
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Abstract
Despite notable advancements in tactile sensing, the lack of comparability between prototypes continues to hinder the development of versatile, accessible, and multimodal sensing systems that utilize sensor fusion to replicate the capabilities of human skin. To address this, we evaluated nine sensor prototypes based on commercially available components utilizing four transduction principles — barometric, resistive, magnetic, and piezoelectric — through an accessible robot-driven test setup replicating diverse loading conditions critical for robotic grasping. Barometric sensors achieved the highest accuracy (≤2.4% of range) during linear loading, while magnetic sensors outperformed across all scenarios, including sliding experiments with response times (≈50 ms) exceeding those of the piezoelectric sensor. 3D-printed piezoresistive sensors enabled qualitative contact detection but were less effective for precise force measurements due to relaxation in quasi-static cases. These reproducible findings highlight the strengths of each sensor realization, providing valuable insights for future applications and sensor fusion strategies.
Citation
S. Groß et al., "Tactile Sensor Elements based on Commercial Components: An Experimental Comparison," in IEEE Sensors Journal, doi: 10.1109/JSEN.2025.3606565.
Source
IEEE Sensors Journal
Conference
Keywords
Barometer, Comparison, Magnetic, Piezoelectric, Piezoresistive, Robotic Grasping, Sensor Fusion, Tactile Sensors, Barometers, Crystallography, Magnetic Sensors, Mice (computer Peripherals), Tactile Sensors, Commercial Components, Comparison, Element-based, Magnetic, Piezo-resistive, Piezoelectric, Robotic Grasping, Sensor Elements, Sensor Fusion, Piezoelectricity
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Publisher
IEEE