Fingertip 6-Axis Force/Torque Sensing for Texture Recognition in Robotic Manipulation

The human sense of touch allows recognizing a wide set of properties of a grasped object such as weight, shape, hardness, temperature or surface texture. Despite the great importance of haptic sensing for humans, mechatronic end-effectors of humanoid robots and industrial manipulators are rarely endowed with tactile feedback. This is due to a lack of robust force/torque sensors which are compact e...