Array of Accelerometers as a Dynamic Vibro-Tactile Sensing for Assessing the Slipping Noise

Abstract

Through vibrations people can assess both slippage of the directly grasped object and sliding of an external agent over the surface of the grasped immovable object. In robotic hands, with less advanced tactile sensing, the slippage and sliding events can be hard to distinguish. This paper shows how vibro-tactile sensing array can help to distinguish object/world sliding and sensor/object slippage events based on cross-correlation, which computes similarity in sensor readings of tactile array cells. The proposed vibro-tactile system consists of two accelerometers. Experiments with different surfaces are conducted to test the system and the proposed algorithm.

Active Manipulation

“…In most of the cases, the tactile sensors used in the first case have a higher bandwidth than the ones used in the second case. The sensors of the first group can detect slippage Massalim et al (2019), recognize textures Fishel and Loeb (2012) or perform both Massalim et al (2020). The sensors of the second group are used in force control, object exploration and manipulation.…”

Deep Vibro-Tactile Perception for Simultaneous Texture Identification, Slip Detection, and Speed Estimation

“…Our approach leverages prior work in slip and texture detection. Some of the existing methods build upon one dimensional (1D) measurements of FIVs, e.g., using accelerometers embedded in robot fingertips [17,18] and in hand prostheses [19]. Others, rather, indirectly use two dimensional (2D) camera images, e.g., optical sensing [20] embedded in a robot end-effector.…”

Vibro-Tactile Foreign Body Detection in Granular Objects based on Squeeze-Induced Mechanical Vibrations

“…In robotics, the sense of touch is provided by various forcesensing technologies, including capacitive, piezoresistive, magnetic, and optical to name a few of them [6], [7]. This sensing ability allows robots to preempt slippage [8] and distinguish surface roughnesses [9].…”