AcousTac: Tactile sensing with acoustic resonance for electronics-free soft skin

TL;DR

AcousTac is an electronics-free tactile sensor that uses acoustic resonance in soft silicone structures to measure external forces, enabling soft robots to sense touch without embedded electronics.

Contribution

The paper introduces AcousTac, a novel acoustic tactile sensor that operates without electronics at the contact site, using resonant chambers to detect force through frequency changes.

Findings

Successfully demonstrated on robotic arrays and grippers.

Capable of sensing multiple forces simultaneously.

Tunable to specific force and frequency ranges.

Abstract

Sound is a rich information medium that transmits through air; people communicate through speech and can even discern material through tapping and listening. To capture frequencies in the human hearing range, commercial microphones typically have a sampling rate of over 40kHz. These accessible acoustic technologies are not yet widely adopted for the explicit purpose of giving robots a sense of touch. Some researchers have used sound to sense tactile information, both monitoring ambient soundscape and with embedded speakers and microphones to measure sounds within structures. However, these options commonly do not provide a direct measure of steady state force, or require electronics integrated somewhere near the contact location. In this work, we present AcousTac, an acoustic tactile sensor for electronics-free force sensitive soft skin. Compliant silicone caps and plastic tubes compose the resonant chambers that emit pneumatic-driven sound measurable with a conventional off-board microphone. The resulting frequency changes depend on the external loads on the compliant end caps. We can tune each AcousTac taxel to specific force and frequency ranges, based on geometric parameters, including tube length and end-cap geometry and thus uniquely sense each taxel simultaneously in an array. We demonstrate AcousTac's functionality on two robotic systems: a 4-taxel array and a 3-taxel astrictive gripper. AcousTac is a promising concept for force sensing on soft robotic surfaces, especially in situations where electronics near the contact are not suitable. Equipping robots with tactile sensing and soft skin provides them with a sense of touch and the ability to safely interact with their surroundings.