Ultrasonic six-axis deformation sensing

Ando, Shigeru; Shinoda, Hiroyuki; Yonenaga, Akihiko; Terao, Jiro

doi:10.1109/58.935720

Cited by 17 publications

(4 citation statements)

References 24 publications

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“…Macroscopic slippage has been detected with several methods, based on the stick-slip vibration [18]- [21], the displacement of the contact surface [22], and the change of the contact force [23], [24]. Since these sensors cannot sense the incipient slippage, however, it is difficult with these sensors to control the grip force before the macroscopic slippage.…”

Section: Introductionmentioning

confidence: 99%

Robust Slippage Degree Estimation Based on Reference Update of Vision-Based Tactile Sensor

2011

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In this paper, we propose a new slippage degree estimation method of a vision-based tactile sensor. The advantage of the vision-based tactile sensor is simultaneous acquisition of the slippage degree, a multidimensional force and a moment. A CCD camera captures the sensor surface which has regularly arrayed dots. The slippage degree on the sensor surface is determined by the stick ratio obtained from the displacements of dots in the captured images. In our previous work [1], the stick ratio was successfully applied to avoid slippage or the shape deformation of grasped objects. Based on the adaptive selection of the reference image and the compensation of the dot displacement, the proposed method in this study extends use of the previously developed algorithm, to dynamically complex but general situations as follows. First, the contact surface deforms after the macroscopic slippage or the slippage direction is changed. Second, the contact surface rotates with an applied moment. Third, the captured image is locally zoomed with a significant change of a grip force. A heuristic weighted average method is also proposed to decrease each dot's variation in the captured image. Usefulness of the proposed method is confirmed through experimental results.

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Section: Introductionmentioning

confidence: 99%

Robust Slippage Degree Estimation Based on Reference Update of Vision-Based Tactile Sensor

2011

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“…Since the total of these currents is equal to the currents which flows through R 0 , the boundary conditions are determined from Eq. (8), (9).…”

Section: Boundary Conditionsmentioning

confidence: 98%

A net-structure tactile sensor covering freeform surface with reduced wiring

Shimojo

Arakil

Teranishi

et al. 2008

2008 SICE Annual Conference

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A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. There are only 4 signal wires from the sensor. The sensor response time is nearly constant (within 1ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.

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“…In the acoustic method, the variation in the acoustic wave propagation through deformable sensing body is mapped to the tactile readings [71][72][73][74][75] (see Figure 2g). The wave propagation alters when there is a deformation on the sensing body due to the external load.…”

Section: Acousticsmentioning

confidence: 99%

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

Mandil,

Rajendran,

Nazari

et al. 2023

Sensors

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Tactile sensing plays a pivotal role in achieving precise physical manipulation tasks and extracting vital physical features. This comprehensive review paper presents an in-depth overview of the growing research on tactile-sensing technologies, encompassing state-of-the-art techniques, future prospects, and current limitations. The paper focuses on tactile hardware, algorithmic complexities, and the distinct features offered by each sensor. This paper has a special emphasis on agri-food manipulation and relevant tactile-sensing technologies. It highlights key areas in agri-food manipulation, including robotic harvesting, food item manipulation, and feature evaluation, such as fruit ripeness assessment, along with the emerging field of kitchen robotics. Through this interdisciplinary exploration, we aim to inspire researchers, engineers, and practitioners to harness the power of tactile-sensing technology for transformative advancements in agri-food robotics. By providing a comprehensive understanding of the current landscape and future prospects, this review paper serves as a valuable resource for driving progress in the field of tactile sensing and its application in agri-food systems.

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Ultrasonic six-axis deformation sensing

Cited by 17 publications

References 24 publications

Robust Slippage Degree Estimation Based on Reference Update of Vision-Based Tactile Sensor

Robust Slippage Degree Estimation Based on Reference Update of Vision-Based Tactile Sensor

A net-structure tactile sensor covering freeform surface with reduced wiring

Tactile-Sensing Technologies: Trends, Challenges and Outlook in Agri-Food Manipulation

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