| Summary: | The mechanical properties of a sensor strongly affect its tactile sensing capabilities. The role of morphology and stiffness on the quality of the tactile data has already been the subject of several studies, which focus mainly on static sensor designs and design methodologies. However, static designs always come with trade-offs: considering stiffness, soft compliant sensors ensure a better contact, but at the price of mechanically filtering and altering the detected signal. Conversely, online adaptable filters can tune their characteristics, becoming softer or stiffer when needed. We propose a magneto-active elastomer filter which, when placed on top of the tactile unit, allows the sensor to change its stiffness on demand. We showcase the advantages provided by online stiffening adaptation in terms of information gained and data structure. Moreover, we illustrate how adaptive stiffening influences classification, using 9 standard machine learning algorithms, and how adaptive stiffening can increase the classification accuracy up to 34% with respect to static stiffness control.
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