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Multimodal tactile sensing could potentially enable robots to improve theirperformance at manipulation tasks by rapidly discriminating betweentask-relevant objects. Data-driven approaches to this tactile perceptionproblem show promise, but there is a dearth of suitable training data. In thistwo-page paper, we present a portable handheld device for the efficientacquisition of multimodal tactile sensing data from objects in their naturalsettings, such as homes. The multimodal tactile sensor on the device integratesa fabric-based force sensor, a contact microphone, an accelerometer,temperature sensors, and a heating element. We briefly introduce our approach,describe the device, and demonstrate feasibility through an evaluation with asmall data set that we captured by making contact with 7 task-relevant objectsin a bathroom of a person's home.

A Handheld Device for the In Situ Acquisition of Multimodal Tactile Sensing Data