Advanced Robotics Workshop

Embedded Haptic Control for Robotic Grasping using a Tactile Sensor System

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Abstract

Tactile sensing is essential for dexterous robotic manipulation, enabling reliable contact detection, grasp assessment, and safe interaction with delicate objects. In this work, we present a finger-shaped tactile sensor system based on a 2D array of MEMS barometric pressure sensors, designed to mimic the compliance and geometry of the human fingertip. The system integrates real-time contact force measurements utilizing the pressure sensor array, in combination with acceleration data from an onboard Inertial Measurement Unit (IMU), allowing both precise point-of-contact estimation and dynamic impact detection. A dedicated microcontroller (μC) acts as a local processing and coordination node, responsible for closed-loop grasp and movement control, while a PC manages high-level communication between the μC and a robotic gripper. In addition, a hardware-level GPIO handshake between the control unit of a collaborative robot and the processing node enables deterministic synchronization between robotic arm positioning and grasp execution. Experimental validation of both the tactile sensor system and the robotic gripper control demonstrates robust operation across the conducted performance tests, with no malfunctions or object damage, as tactile feedback enables real-time grasping control throughout object manipulation. These results highlight the advantages of our tactile sensing solution as a cost-effective, versatile approach for enhancing robotic touch and advancing adaptive object-handling strategies.

How to Cite:

Kammerhofer, T. & Thurner, T., (2026) “Embedded Haptic Control for Robotic Grasping using a Tactile Sensor System”, Proceedings of the Austrian Symposium on AI, Robotics, and Vision 3(1), 193-200.