The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies

EPSRC grant on tactile superresolution sensing (EP/M02993X/1) and Leadership Award from the Leverhulme Trust on 'A biomimetic forebrain for robot touch' (RL-2016-39). The following data was obtained from the TacTip, TacTip-M2, TacTip-GR2 and TacCylinder sensors, optical tactile sensors mounted on an ABBIRB120 robotic arm. The sensors rolled a cylinder of diameter 20 mm along a one-dimensional trajectory in 720 increments. The data was separated into 72 locations and used to validate the performance of the suite of TacTip tactile sensors.