Welcome

This site contains the supplementary videos, CAD models, FE models, and datasets for 2 of our research papers:

• "Interpreting and predicting tactile signals via a physics-based and data-driven framework," presented at RSS 2020, and

• "Interpreting and predicting tactile signals for the SynTouch Biotac", conditionally accepted to IJRR. This is a substantially extended version of the above.

You may also be interested in our concurrent tactile work, presented at ICRA 2021. This work focuses on improving the speed of simulation and the accuracy of electrode signal predictions. See the project website here.

Please email the corresponding author with any questions.

Updates

• 1/14/2020: Submission to IJRR has been posted to arXiv.

• 6/23/2020: RSS virtual presentation video has been posted.

• 6/3/2020: Experimental testbed CAD v1.0, FE model v1.0, pure experimental dataset v1.0, and mixed experimental-FE dataset v1.0 are now available.

Experimental Testbed CAD

Files:

• BioTac Experimental Testbed CAD v1.0 [Usage governed by MIT License] (6/3/2020)

Description:

• Parametric CAD models for all components of experimental testbed

• Includes imported parts from McMaster-Carr database, along with associated part numbers

Requirements:

• None (to view)

• OnShape cloud-based CAD software (to edit; free licenses available)

Notes:

• Please contact for export privileges.

3D Finite Element Model

Files:

• BioTac Finite Element Model v1.0 [Usage governed by MIT License] (6/3/2020)

Description:

• 3D finite element model for BioTac

• Includes geometric models for sensor and all 9 indenters used in paper

• Pre-loaded with optimized values of free parameters

• Includes example solution

• Mesh refinement, time-stepping, and indentation trajectory can be specified by user as desired

Requirements:

• ANSYS Mechanical v19.1 (free student edition available)

• ANSYS SpaceClaim (included in student edition; used to modify geometric models)

• Hydrostatic Fluid v2 plug-in

Notes:

• APDL command objects for extracting nodal contact forces available on request.

• Future models may include internal and external surface asperities.

Experimental Datasets

Files:

• BioTac Pure Experimental Dataset v1.0 [Usage governed by non-commercial Creative Commons license]

  • Includes indenter type, electrode locations (constant), electrode values, contact locations, and force vector

• BioTac Mixed Experimental-FE Dataset v1.0 [Usage governed by non-commercial Creative Commons license]

  • Includes indenter type, electrode locations (constant), electrode values, FE nodal reference coordinates (i.e., initial coordinates of 128 randomly-sampled nodes after pressurization step; constant), and FE nodal displacements

Description:

• Experimental dataset for BioTac

• Includes data from 3 sensors, 9 indenters, 400+ unique trajectories (70% shear), and 800+ indentation events

• Indenter type is encoded as integer from 0-8, corresponding to sphere small/medium/large, cylinder small/medium/long, cube, ring, and texture

Requirements:

• HDF5 library (free)

Notes:

• For pure experimental dataset, raw electrode values were compressed to [0, 1]. Compressed values were then tared at beginning of each trial (i.e., prior to contact).

• For mixed experimental-FE dataset, experimental and FE data were truncated to common indenter-displacement range and uniformly interpolated.

• If another data feature is desired, please ask; it may be available.