A Flexible Tactile Capacitive Sensor for Slip Detection

Abstract

A tactile sensor for slip detection is necessary for humanlike grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrlyro-nitrile butadien rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint -like structures that are similar with the role of the human’s fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.

UAV fall detection from a dynamic perch using Instantaneous Centers of Rotation and inertial sensing

“…The input to the model is the vector , which consists of the estimates of the angular acceleration from (7-9). The vector is the sensor output vector consisting of the estimates of the angular rate from the gyroscope as well as the angular rate squared also from (7)(8)(9)). An EKF is then generated using this model and is subsequently used to estimate the angular rate and acceleration.…”

“…(10-14) describe the kinematic model derived from equations (6)(7)(8)(9). The vector is the state vector for the model consisting of the angular rate and the angular position.…”

“…However, there is research on slip detection in manipulators that could be used with grasping mechanisms. Some researchers use tactile sensing to detect changes in normal and shears forces to detect slip [6][7][8][9], but this would require significant modification of a UAV grasping mechanism. Computer vision is also implemented for slip detection in mobile robots [10,11] and manipulators [6,12] where optical flow is used to detect relative motion between the robot and the ground or grasped object, respectively.…”