Low-cost fabrication of flexible tactile sensor arrays.

While for vision and audio the same mass-produced units can be embedded in many different systems from smartphones to robots, tactile sensors have to be built in application-specific shapes and sizes. To use a commercially available tactile sensor, it can be necessary to develop the entire system around an existing sensor model. We present a set of open-source solutions for designing, manufacturing, reading and integrating custom application-specific tactile matrix sensors. Our manufacturing process only requires an off-the-shelf cutting plotter and widely available plastic and metal foils. This allows creating sensors of diverse sizes, shapes, and layouts, which can be adapted to various specific use cases as demonstrated with exemplary robot integrations. For interfacing and readout, we develop an Arduino-like prototype board (Tacduino) with amplifier circuits to ensure good resolution and to suppress crosstalk. As an example, we give step-by-step instructions to build tactile fingertips for the RobotiQ 3-Finger Gripper, and we provide design files for the readout circuit board together with Arduino firmware and driver software. Both, wired and wireless communication between the sensors and a host PC are supported by this system. The hardware was originally presented and investigated in [1].