Review Article Tactile sensing for mechatronics—a state of the art survey

Lee, Mark; Nicholls, H.R.

doi:10.1016/s0957-4158(98)00045-2

Cited by 647 publications

(345 citation statements)

References 85 publications

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“…Tactile sensing is widely considered an essential capability for effective grasping and manipulation [1], [2], [3]. Parameters such as the location of object contacts on the robot hand and contact pressure distribution are believed to be essential for effective manipulation in unstructured environments.…”

Section: Introductionmentioning

confidence: 99%

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The Feel of MEMS Barometers: Inexpensive and Easily Customized Tactile Array Sensors

Tenzer

Jentoft

Howe

2014

IEEE Robot. Automat. Mag.

165

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Abstract-This paper presents a new approach to the construction of tactile array sensors based on barometric pressure sensor chips and standard printed circuit boards. The chips include tightly integrated instrumentation amplifiers, analog-todigital converters, pressure and temperature sensors, and control circuitry that provides excellent signal quality over standard digital bus interfaces. The resulting array electronics can be easily encapsulated with soft polymers to provide robust and compliant grasping surfaces for specific hand designs. The use of standard commercial-off-the-shelf technologies means that only basic electrical and mechanical skills are required to build effective tactile sensors for new applications. Performance evaluation of prototype arrays demonstrate excellent linearity (<1% typical) and low noise (<0.01 N). External addressing circuitry allows multiple sensors to communicate on the same bus at over 100 Hz per sensor element. Sensors can be mounted as close as 3x5 mm spacing, and spatial impulse response tests show that solid-mechanics based signal processing is feasible. This approach promises to make sensitive, robust, and inexpensive tactile sensing available for a wide range of robotics and humaninterface applications.

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Section: Introductionmentioning

confidence: 99%

“…Hundreds of touch sensing devices have been published in the robotics literature, but building such sensors requires custom fabrication using nonstandard techniques [1], [2], [3].…”

Section: Introductionmentioning

confidence: 99%

The Feel of MEMS Barometers: Inexpensive and Easily Customized Tactile Array Sensors

Tenzer

Jentoft

Howe

2014

IEEE Robot. Automat. Mag.

165

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“…Bei den auf das Greifen zielenden Projekten finden sich verschiedene Formen von Kraftsensoren, die die an einer oder mehreren Stellen wirkenden Kontaktkräfte bestimmen [108,109,139,196].…”

Section: Externe Kräfteunclassified

Ein Beitrag zur Integration von Sensoren in eine anthropomorphe künstliche Hand mit flexiblen Fluidaktoren

Martin¹

2005

At - Automatisierungstechnik

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“…Tactile sensors [12], [19] are commonly defined as "a device that can measure a given property of an object or contact event through physical contact between sensor and object" that is able to sense one or more of the following modalities: pressure, normal and sheer forces, torques, slip, vibrations, or temperature. Important properties of a sensor are its spatial and temporal resolution, noise, hysteresis, creep, and aging.…”

Section: Related Workmentioning

confidence: 99%

Object identification with tactile sensors using bag-of-features

Schneider

Sturm

Stachniss

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

187

158

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Abstract-In this paper, we present a novel approach for identifying objects using touch sensors installed in the finger tips of a manipulation robot. Our approach operates on low-resolution intensity images that are obtained when the robot grasps an object. We apply a bag-of-words approach for object identification. By means of unsupervised clustering on training data, our approach learns a vocabulary from tactile observations which is used to generate a histogram codebook. The histogram codebook models distributions over the vocabulary and is the core identification mechanism. As the objects are larger than the sensor, the robot typically needs multiple grasp actions at different positions to uniquely identify an object. To reduce the number of required grasp actions, we apply a decision-theoretic framework that minimizes the entropy of the probabilistic belief about the type of the object. In our experiments carried out with various industrial and household objects, we demonstrate that our approach is able to discriminate between a large set of objects. We furthermore show that using our approach, a robot is able to distinguish visually similar objects that have different elasticity properties by using only the information from the touch sensor.

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Review Article Tactile sensing for mechatronics—a state of the art survey

Cited by 647 publications

References 85 publications

The Feel of MEMS Barometers: Inexpensive and Easily Customized Tactile Array Sensors

The Feel of MEMS Barometers: Inexpensive and Easily Customized Tactile Array Sensors

Ein Beitrag zur Integration von Sensoren in eine anthropomorphe künstliche Hand mit flexiblen Fluidaktoren

Object identification with tactile sensors using bag-of-features

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