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About this paper
Neel Adwani, Muhaiminul Islam Akash, Rituja Bhattacharya, Cong Wang
The authors build low-cost Velostat tactile sensing across a robot finger, with dense fingertip coverage and simpler contact lines on other phalanges. It produces distinct patterns for five cube-contact geometries and registers contact on all three phalanges in a cylinder grip. In five single-contact trials, a TPU gap-and-bump design reduced mean sensor-recovery time by 74%, from 4.6 ± 1.4 s to 1.2 ± 0.7 s, without demonstrating improved grasping.
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