High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

Autor: Wataru Fukui, Futoshi Kobayashi, Fumio Kojima, Hiroyuki Nakamoto, Nobuaki Imamura, Tadashi Maeda, Hidenori Shirasawa
Jazyk: angličtina
Rok vydání: 2011
Předmět:
Zdroj: Journal of Robotics, Vol 2011 (2011)
Druh dokumentu: article
ISSN: 1687-9600
1687-9619
DOI: 10.1155/2011/691769
Popis: We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.
Databáze: Directory of Open Access Journals
Externí odkaz: