HumanFT: A Human-like Fingertip Multimodal Visuo-Tactile Sensor

TL;DR

HumanFT is a novel, compact multimodal visuotactile sensor that mimics human fingertip functionality, enabling humanoid robots to perceive force, vibration, and temperature in real-time for safer and more effective interaction.

Contribution

The paper introduces HumanFT, a new human-like fingertip sensor with integrated multimodal sensing capabilities, fabricated through innovative techniques for improved robotic tactile perception.

Findings

Successfully measured real-time force, vibration, and temperature.

Demonstrated simple and cost-effective fabrication process.

Enhanced humanoid robot perception with multimodal tactile data.

Abstract

Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their high-quality feedback. However, a significant gap remains in the development of sensors suitable for humanoid robots, especially five-fingered dexterous hands. One reason is because of the challenges in designing and manufacturing sensors that are compact in size. In this paper, we propose HumanFT, a multimodal visuotactile sensor that replicates the shape and functionality of a human fingertip. To bridge the gap between human and robotic tactile sensing, our sensor features real-time force measurements, high-frequency vibration detection, and overtemperature alerts. To achieve this, we developed a suite of fabrication techniques for a new type of elastomer optimized for force propagation and temperature sensing. Besides, our sensor integrates circuits capable of sensing pressure and vibration. These capabilities have been validated through experiments. The proposed design is simple and cost-effective to fabricate. We believe HumanFT can enhance humanoid robots' perception by capturing and interpreting multimodal tactile information.