Development of Intelligent Robot Hand Using Proximity, Contact and Slip Sensing

Abstract

To achieve the skilful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, near the object surface, vision has a weak point of the occlusion. In this research, we seamlessly detect from near to contact and achieve a reliable grasp through the integration of proximity, tactile and slip sensor in a three-fingered hand, and propose an appropriate grasp strength control derived from slippage information during grasping. As a practical task, Pick & Place was adopted, and was successful in implementation under the conditions of 1) weight/shape/friction conditions are unknown and 2) placement error exists. Although the sensor group did not necessarily provide a high accurate information, it showed sufficient effectiveness through its appropriate usage.Key Words: robot hand, tactile sensor, proximity sensor, slip sensor, grasping 1.

Neuromorphic Event-Based Slip Detection and Suppression in Robotic Grasping and Manipulation

“…(1) observing the ratio of the measured tangential force to the measured normal force at the contact point by using F/T sensor [37]. 2Measuring changes in shear force using center-of-pressure (COP) tactile sensors [38], [39]. 3measuring and analysing the vibration of the shearing force caused by relative motions by sensors such as acoustic resonant sensors [40], thick-film piezoelectric sensors [41], piezoresistive sensors [42], and optoelectric tactile sensors [43], etc.…”

A review on sensory perception for dexterous robotic manipulation

“…10,11 Recent trends in sensors are moving toward multimodal sensors. 12 One of the most important abilities for humans is to perceive the environment, understand the environment, and complete some meaningful operations. We recognize the world around us through sight, hearing, taste, smell, and touch and through the information processing and fusion of the brain and then form a cognition of the surrounding environment.…”

Miniaturization and High-Density Arrangement of Microcantilevers in Proximity and Tactile Sensor for Dexterous Gripping Control

“…Some studies of sensors that integrated proximity information with tactile information have been conducted in recent years. Mizoguchi et al integrated on robot hand a tactile sensor using pressure-sensitive conductive rubber and a proximity sensor using optical elements [14]. On the other hand, Tsuji and Kohama reported a study on a proximity/tactile sensor based on change of static capacitance [15].…”