If used, please cite: Corradi, Tadeo, Peter Hall, and Pejman Iravani. ‘Tactile Features: Recognising Touch Sensations with a Novel and Inexpensive Tactile Sensor’. In Advances in Autonomous Robotics Systems, edited by Michael Mistry, Aleš Leonardis, Mark Witkowski, and Chris Melhuish, 163–72. Lecture Notes in Computer Science 8717. Springer International Publishing, 2014.
The 3D model of the BathTip sensor. A tactile sensor using a webcam and a piece of rubber. Idea based on the concept behind the TacTip, by BRL.
FCstd is a FreeCad file. It contains the 3D model for customisation, and an example of a base.
STL file is the file you need to print the sensor body.
Webcam for this design: from amazon
Rubber membrane can be cut out of a silicone baking tray, like this one.
Shown to be able to recognise basic objects.