A Biomimetic Design of HeteroGeneous Tactile Sensor (GTac) Providing Normal and Shear Force Feedback
This repo includes:
- the code
- low-level controller of GTac-Hand and GTac-Gripper
- collecting data from GTac
- algorithms used for case study in papers, for instance, learning-based ECS recognition, handover controller, force-closed grasping, etc.
- the hardware design.
- PCB design of GTac, reading-out boards, and the motors driving boards.
- mechenical design (CAD models)
This paper is to introduce the design, fabrication methods, and force sensing principles of GTac. For more information, please check out our paper below.
Z. Lu, X. Gao and H. Yu, "GTac: A Biomimetic Tactile Sensor With Skin-Like Heterogeneous Force Feedback for Robots," in IEEE Sensors Journal, vol. 22, no. 14, pp. 14491-14500, 15 July15, 2022, doi: 10.1109/JSEN.2022.3181128.
If you have any queries, do not hesitate to contact Zeyu Lu (email: zeyu.lu@u.nus.edu).
This project is supervised by Prof. Haoyong Yu in Biorobotics Lab @NUS.