Resonant Pneumatic Tactile Sensing for Soft Grippers

Soft robots capable of dexterous manipulation can enable the exploration extreme environments. Equipping these with tactile sensing is a challenge, as sensors must be flexible, stretchable, and robust to environmental conditions. We present sensor design pneumatically driven acoustic resonator, without electronics near from end-effector. For applications soft grippers, we measure resonant frequency tube undergoing stretching bending. A small hole along enables contact pretouch up 2 mm away. also for rigid uni-axial force probe. Grasping tasks utilize three modalities gripper; finger pose, fingertip contact, in palm all provide feedback manipulation. discuss address future work effects atmosphere air flow rate on well limitations signal processing this design.