{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T04:01:43Z","timestamp":1793505703161,"version":"4.5.0"},"reference-count":42,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2018,1,3]],"date-time":"2018-01-03T00:00:00Z","timestamp":1514937600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2018,1,3]],"date-time":"2018-01-03T00:00:00Z","timestamp":1514937600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2018,4,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Tactile sensing is an essential component in human\u2013robot interaction and object manipulation. Soft sensors allow for safe interaction and improved gripping performance. Here we present the TacTip family of sensors: a range of soft optical tactile sensors with various morphologies fabricated through dual-material 3D printing. All of these sensors are inspired by the same biomimetic design principle: transducing deformation of the sensing surface via movement of pins analogous to the function of intermediate ridges within the human fingertip. The performance of the TacTip, TacTip-GR2, TacTip-M2, and TacCylinder sensors is here evaluated and shown to attain submillimeter accuracy on a rolling cylinder task, representing greater than 10-fold super-resolved acuity. A version of the TacTip sensor has also been open-sourced, enabling other laboratories to adopt it as a platform for tactile sensing and manipulation research. These sensors are suitable for real-world applications in tactile perception, exploration, and manipulation, and will enable further research and innovation in the field of soft tactile sensing.<\/jats:p>","DOI":"10.1089\/soro.2017.0052","type":"journal-article","created":{"date-parts":[[2018,1,3]],"date-time":"2018-01-03T10:32:27Z","timestamp":1514975547000},"page":"216-227","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":580,"title":["The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies"],"prefix":"10.1177","volume":"5","author":[{"given":"Benjamin","family":"Ward-Cherrier","sequence":"first","affiliation":[{"name":"University of Bristol","place":["United Kingdom"]},{"name":"Bristol Robotics Laboratory","place":["United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nicholas","family":"Pestell","sequence":"additional","affiliation":[{"name":"University of Bristol","place":["United Kingdom"]},{"name":"Bristol Robotics Laboratory","place":["United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Luke","family":"Cramphorn","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory","place":["United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Benjamin","family":"Winstone","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory","place":["United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maria Elena","family":"Giannaccini","sequence":"additional","affiliation":[{"name":"University of Bristol","place":["United Kingdom"]},{"name":"Bristol Robotics Laboratory","place":["United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonathan","family":"Rossiter","sequence":"additional","affiliation":[{"name":"University of Bristol","place":["United Kingdom"]},{"name":"Bristol Robotics Laboratory","place":["United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nathan F.","family":"Lepora","sequence":"additional","affiliation":[{"name":"University of Bristol","place":["United Kingdom"]},{"name":"Bristol Robotics Laboratory","place":["United Kingdom"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2018,1,3]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neubiorev.2008.07.001"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2033627"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.07.015"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0010"},{"key":"e_1_3_3_7_2","first-page":"87","volume-title":"Proceedings of the Sixth International Workshop on Epigenetic Robotics","author":"Natale L","year":"2006","unstructured":"Natale L, , Torres-Jara E. 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