Grip Force Control Based on the Degree of Slippage Using Optical Tactile Sensor

Watanabe, Norinao; Obinata, Goro

doi:10.1109/mhs.2007.4420900

Cited by 18 publications

(11 citation statements)

References 9 publications

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“…Watanabe and Obinata [83] proposed an incipient slip sensor consisting of a CCD camera, LED lights, acrylic plate, and a spherical elastic body made of transparent silicone rubber patterned with a grid of dots (Fig. 8).…”

Section: Incipient Slip Detectionmentioning

confidence: 99%

Section: Incipient Slip Detectionmentioning

confidence: 99%

“…In agreement with observations made in the human finger [46], both the model and the artificial fingertip showed that incipient slips occur during tangential loading, initially near the boundary of the contact area, propagating from the periphery inward towards the center of contact. The ratio of slipped area to total contact area was used as a slip indicator (as in [83]) to control the grip force during a lifting simulation without needing to monitor the contact forces. Instrumentation of the artificial finger has not yet been described.…”

Section: Incipient Slip Detectionmentioning

confidence: 99%

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Tactile Sensors for Friction Estimation and Incipient Slip Detection—Toward Dexterous Robotic Manipulation: A Review

et al. 2018

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Section: Incipient Slip Detectionmentioning

confidence: 99%

Section: Incipient Slip Detectionmentioning

confidence: 99%

Section: Incipient Slip Detectionmentioning

confidence: 99%

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Tactile Sensors for Friction Estimation and Incipient Slip Detection—Toward Dexterous Robotic Manipulation: A Review

et al. 2018

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“…A wide range of tactile features are employed for exploring the environment, including contact detection, force measurements, force distribution vectors [9,10], strain extraction, surface traction field [11], vibration monitoring, grip force [12,13], and object recognition [7]. …”

Section: Introductionmentioning

confidence: 99%

Seeing by Touch: Evaluation of a Soft Biologically-Inspired Artificial Fingertip in Real-Time Active Touch

Assaf

Roke

Rossiter

et al. 2014

Sensors

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Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechanisms within human skin and offers a robust solution that can be used both for tactile sensing and gripping/manipulating objects. The softness of the optical sensor's contact surface also allows safer interactions with objects. High-level tactile features such as edges are extrapolated from the sensor's output and the information is used to generate a tactile image. The work presented in this paper aims to investigate and evaluate this artificial fingertip for 2D shape reconstruction. The sensor was mounted on a robot arm to allow autonomous exploration of different objects. The sensor and a number of human participants were then tested for their abilities to track the raised perimeters of different planar objects and compared. By observing the technique and accuracy of the human subjects, simple but effective parameters were determined in order to evaluate the artificial system's performance. The results prove the capability of the sensor in such active exploration tasks, with a comparable performance to the human subjects despite it using tactile data alone whereas the human participants were also able to use proprioceptive cues.

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“…A carefully trained artificial neural network method has been proposed to determine primitive slips from vibration information. Also, arrays of Force Sensitive Resistive (FSR) sensors are used to create tactile sensor for robotic gripper [10]. A change of resistance in each of the FSR elements is inversely proportional to external force applied.…”

Section: Introductionmentioning

confidence: 99%

New approach to detection of incipient slip using inductive sensory system

Mamun

Ibrahim

2010

2010 IEEE International Symposium on Industrial Electronics

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This paper presents a new methodology for detecting incipient slip for intelligent grasping. A new inductive sensor was designed and developed to achieve this task. A full description of the structure of the new sensor is included in this paper.The three elements required for a successful robotic grasping were examined using the newly designed sensor. These elements are incipient slip, grip force and contact area. The new design of the incipient slip detector is based on the summation of changes in mutual distance in all three primary inductors of a sensor element. This can be used to determine local or micro slip for a secure and optimal grasping. In addition this sensor can be also used to detect the applied force and determine the contact area between the object and the gripping device.

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Grip Force Control Based on the Degree of Slippage Using Optical Tactile Sensor

Cited by 18 publications

References 9 publications

Tactile Sensors for Friction Estimation and Incipient Slip Detection—Toward Dexterous Robotic Manipulation: A Review

Tactile Sensors for Friction Estimation and Incipient Slip Detection—Toward Dexterous Robotic Manipulation: A Review

Seeing by Touch: Evaluation of a Soft Biologically-Inspired Artificial Fingertip in Real-Time Active Touch

New approach to detection of incipient slip using inductive sensory system

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