A tactile sensing system capable of recognizing objects based on bioinspired self-sensing soft pneumatic actuator

Tactile sensors play an important role when robots perform contact tasks, such as physical information collection, force or displacement control to avoid collision. For these manipulations, excessive contact may cause damage while poor contact cause information loss between the robotic end-effector and the objects. Inspired by skin structure and signal transmission method, this paper proposes a tactile sensing system based on the self-sensing soft pneumatic actuator (S-SPA) capable of providing tactile sensing capability for robots. Based on the adjustable height and compliance characteristics of the S-SPA, the contact process is safe and more tactile information can be collected. And to demonstrate the feasibility and advantage of this system, a robotic hand with S-SPAs could recognize different textures and stiffness of the objects by touching and pinching behaviours to collect physical information of the various objects under the positive work states of the S-SPA. The result shows the recognition accuracy of the fifteen texture plates reaches 99.4 %, and the recognition accuracy of the four stiffness cuboids reaches 100 % by training a KNN model. This safe and simple tactile sensing system with high recognition accuracies based on S-SPA shows great potential in robotic manipulations and is beneficial to applications in domestic and industrial fields.