#  TacTip 

 



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 The TacTip is a 3d-printed optical tactile sensor developed at Bristol Robotics Laboratory ([Chorley et al, 2009](/publications/development-tactile-sensor-based-biologically-inspired-edge-encoding)). It aims to fulfil the need for a cheap, robust, versatile tactile sensor, mountable on industrial robot arms and aimed at eventual integration into robot hands for manipulation. The TacTip is available to order from us by [email](mailto:tactip.brl@gmail.com), or can be fabricated following online instructions.

 The sensor contacts objects with a compliant tip made from a moulded silicone rubber (Smooth-on Vytaflex 60) filled with a clear silicone gel (RTV27905). The inside of the tip comprises of a series of geometrically arranged white-tipped pins.

   ![TacTip sensor](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtsandbox/files/tactip_figure2.png?itok=uJ8FxuUX) 

 

 Pins deform when an object is contacted, and are tracked using an off-the-shelf Microsoft Lifecam Cinema webcam. Different patterns of pin displacement can provide information on object shape, object localization, contact force, torque and shear.

   ![Experimental stimuli](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtsandbox/files/stimuli.png?itok=MEnEC_OE) 

 

 Pin positions are detected using [OpenCV](http://opencv.org/) image processing algorithms and their x- and y-deflections are treated as independent taxels. The figure below displays an example dataset obtained by rolling a cylinder along a horizontal surface. Each color in panels A and B corresponds to a pin from the TacTip, as shown on the right-most panel.

   ![TacTip data](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtsandbox/files/data_roller.png?itok=Y1Xu_OxQ) 

 

 By training the TacTip over given stimuli, we can then apply Bayesian algorithms to classify these stimuli. Using this approach allows us to apply the TacTip to a number of tasks, such as localization, object identification, contour following .... (see [Testing](/tactip/testing) section).



 



 

 See also:- [ Documents ](/page-categories/documents)