Multi-modal Tactile Sensor for Extreme Environments

Human beings are exceptionally good at handling and assessing objects in unstructured environments without damaging them. This differs from many robotic applications which require a priori dimensional knowledge of the part. This strategy fails when grasping something like fruit where the irregular size and shape would result in poor grasping and/or damage. Vision-based quality control and assembly tasks also have their limitations. For example, suppose single- or double-digit micron tolerance is required to fabricate a part. This exceeds the tolerance of typical industrial robots and vision systems. Sensate Robotics proposes the Sensate Fingertip, a multi-modal tactile sensor designed for extreme environments, with applications in NASA’s robotic manipulation and automation efforts. This innovative sensor integrates force, thermal, and conductivity sensing within a compliant elastomeric structure, enabling robotic systems to achieve human-like dexterity in unstructured environments. Phase I funding will be used to develop and evaluate a functional prototype, focusing on sensor construction, performance validation, and feasibility studies for Diffuse Optical Tomography (DOT) and thermal effusivity sensing. The sensor uses LED-phototransistor arrays for force detection, thermistors and a Peltier device for thermal regulation, and a conductive elastomer layer for material classification. These capabilities enable tasks such as precision assembly, tool operation, and autonomous infrastructure construction. Beyond NASA applications, the Sensate Fingertip has significant commercial potential in advanced manufacturing, quality control, and agricultural automation. It can be integrated into robotic inspection systems for gauge checking in precision machining or automated fruit sorting based on ripeness and firmness.