The development of active tactile sensors in the form of wrinkles and it's application to soft robotics

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In the first half of this fiscal year, we had put more effort on our new prototypes, RetracTip and AdapTip, which were based on our earlier work on WrinTac. RetracTip is multifunctional gripper augmented with sensing capability. The multi-modal gripping function was achieved by the integration of a bistable membrane, an adaptive morphology that was inspired by the idea of variable morphology of WrinTac. We have characterized the performance of RetracTip in terms of gripping, sensing, and autonomous pick and place functionality, and finally published it in "Soft Robotics", a top journal in the area of robotics. AdapTip is an optical tactile sensor with adaptive morphology. We have done the design and modeling of this prototype, and hopefully we could publish this work in the near future.