The development of tactile sensing is expected to enhance robotic systems in handling complex objects like deformables or reflective materials. However, readily available industrial grippers generally lack tactile feedback, which has led researchers to develop their own tactile sensors, resulting in a wide range of sensor hardware. Reading data from these sensors poses an integration challenge: either external wires must be routed along the robotic arm, or a wireless processing unit has to be fixed to the robot, increasing its size. We have developed a microcontroller-based sensor readout solution that seamlessly integrates with Robotiq grippers. Our Arduino compatible design takes away a major part of the integration complexity of tactile sensors and can serve as a valuable accelerator of research in the field. Design files and installation instructions can be found at https://github.com/RemkoPr/airo-halberd.

翻译：触觉传感技术的发展有望提升机器人系统处理复杂物体（如可变形材料或反光材料）的能力。然而，现有工业夹爪普遍缺乏触觉反馈功能，这促使研究者自行开发各类触觉传感器，进而产生了多样化的传感器硬件。从这些传感器读取数据时面临集成难题：要么必须沿机械臂布置外部线缆，要么需在机器人上安装无线处理单元，这都会增加其体积。我们开发了一套基于微控制器的传感器读取方案，可无缝集成至Robotiq夹爪。该兼容Arduino的设计大大降低了触觉传感器的集成复杂性，有望成为该领域研究的有力加速器。设计文件与安装说明详见https://github.com/RemkoPr/airo-halberd。