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Soft robotics is an emerging field that yields promising results for tasksthat require safe and robust interactions with the environment or with humans,such as grasping, manipulation, and human-robot interaction. Soft robots relyon intrinsically compliant components and are difficult to equip withtraditional, rigid sensors which would interfere with their compliance. Wepropose a highly flexible tactile sensor that is low-cost and easy tomanufacture while measuring contact pressures independently from 14 taxels. Thesensor is built from piezoresistive fabric for highly sensitive, continuousresponses and from a custom-designed flexible printed circuit board whichprovides a high taxel density. From these taxels, location and intensity ofcontact with the sensor can be inferred. In this paper, we explain the designand manufacturing of the proposed sensor, characterize its input-outputrelation, evaluate its effects on compliance when equipped to thesilicone-based pneumatic actuators of the soft robotic RBO Hand 2, anddemonstrate that the sensor provides rich and useful feedback forlearning-based in-hand object recognition.

A Low-Cost, Easy-to-Manufacture, Flexible, Multi-Taxel Tactile Sensor and its Application to In-Hand Object Recognition