A tactile sensor system for a three-fingered robot manipulator

Abstract

Tactile sensor systems are an essential prerequisite for the implementation of complex manipulation and exploration tasks using robots. Tactile exploration has not yet found its way into many laboratories, because most tactile sensors are technically demanding and expensive.The desire to perform real-time control and pattern recognition with tactile sensors led us to the design of a cost-effective artificial fingertip. At our laboratory two distinct types of sensors are in use: force/position sensors, and slippage detectors. We report on first experimental results with a fingertip prototype performing rolling and sliding movements over a flat surface.To facilitate experimentation with tactile sensors, we designed and developed a data acquisition and transportation system that fulfils our demands on bandwidth, flexibility, and cost. This system consists of two hardware components, a configurable multi-channel analog signal sampler (MASS) to acquire sensor data, and an intelligent dual-ported random-access buffer (BRAD) to avoid data transportation bottlenecks.

Analysis of Tactile Slippage Control Algorithm for Robotic Hand Performing Grasp-Move-Twist Motions

“…Several researchers have tried to clarify incipient slip terminology in their tactile sensor system such as the ultrasonic tactile sensor presented by Shinoda and Ando [9] that realized slippage sensation from computation of cell deformation along three orthogonal axes. It was followed by Jockush et al [10] that proposed a new sensor composed by a piezoresistive semiconductor (FSR) and a piezoelectric material (PVF2). The sensor is used to measure contact force, object position and slippage detection.…”

Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand

“…Robot hand research has mainly focused on grasping and object manipulation [1][2][3][4], and many models of hand control have focused on the motor aspect rather than on haptic perception [5,6], although there are some exceptions [7][8][9][10][11][12][13][14][15][16][17].…”

Acquisition and Application of a Tactile Database

“…Humans can grasp and manipulate objects mostly without looking, guided only by haptics. But to date, there is no technical equivalent to human skin, in spite of research on different sensor designs [1], [2], [3], [4], [5], [6], [7]. So we still lack the "CCDChip" for tactile sensing.…”