Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II

Kawasaki, Haruhisa; Komatsu, T.; Uchiyama, Kenji; Kurimoto, Tetsuya

doi:10.1109/icsmc.1999.825361

Cited by 57 publications

(23 citation statements)

References 6 publications

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“…Tactile sensing allows the robots to physically interact with the environment by improving basic capabilities, such as touching [2], detecting surfaces and collisions [3,4] and advanced capabilities, such as grasping [5–7] and the manipulation of objects [8–10]. …”

Section: Introductionmentioning

confidence: 99%

“…Those sensors replicate human finger tactile perception to obtain information about the applied forces exerted over an object and its shape. In addition, solving complex kinematics and dynamics systems is required to obtain information about the interaction with the environment [8,10,12–15]. However, the usefulness of tactile sensing has provided good results in other scientific areas and applications: medicine, rehabilitation, prostheses, virtual reality, the food industry and industrial automation [9,16–19].…”

Section: Introductionmentioning

confidence: 99%

“…At the end of the 1980s, it was demonstrated that slip detection highly contributes to increasing knowledge over uncertainty, and it improves manipulation without increasing the complexity of the sensors and control systems [22]. …”

Section: Introductionmentioning

confidence: 99%

“…Different sensors to detect slipping can be found in the scientific literature: The use of specifically designed skin sensors: In [22], the fingers of a robotic system were covered with foam rubber, and this was covered with rubber skin. Between the foam and the rubber, accelerometers were strategically disposed to measure the accelerations that the skin suffered when it was in contact with a slipping surface.…”

Section: Introductionmentioning

confidence: 99%

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Micro-Vibration-Based Slip Detection in Tactile Force Sensors

Fernández

Payo

Vázquez

et al. 2014

Sensors

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Tactile sensing provides critical information, such as force, texture, shape or temperature, in manipulation tasks. In particular, tactile sensors traditionally used in robotics are emphasized in contact force determination for grasping control and object recognition. Nevertheless, slip detection is also crucial to successfully manipulate an object. Several approaches have appeared to detect slipping, the majority being a combination of complex sensors with complex algorithms. In this paper, we deal with simplicity, analyzing how a novel, but simple, algorithm, based on micro-vibration detection, can be used in a simple, but low-cost and durable, force sensor. We also analyze the results of using the same principle to detect slipping in other force sensors based on flexible parts. In particular, we show and compare the slip detection with: (i) a flexible finger, designed by the authors, acting as a force sensor; (ii) the finger torque sensor of a commercial robotic hand; (iii) a commercial six-axis force sensor mounted on the wrist of a robot; and (iv) a fingertip piezoresistive matrix sensor.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Micro-Vibration-Based Slip Detection in Tactile Force Sensors

Fernández

Payo

Vázquez

et al. 2014

Sensors

View full text Add to dashboard Cite

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“…Some authors proposed a tactile sensor skin that is based on a tactile sensing method where a sensor element acquires not only a contact force, but also a contact area using the non-linear elasticity (Hoshi and Shinoda, 2006). Another design of a sensor system, which was proposed in Weiss and Woern (2004) and Kawasaki and Komatsu (2002), could easily be mounted onto the skeletal structure of an anthropomorphic robot hand. In Kato and Mukai (2008) and Alirezaei et al (2007) a soft areal tactile sensor was presented, made of pressure-sensitive conductive rubber without any wire or sensing element in the tactile region.…”

Section: Introductionmentioning

confidence: 99%

Contact positions estimation of sensing structure using adaptive neuro-fuzzy inference system

et al. 2014

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Purpose -Tactile sensing is the process of determining physical properties and events through contact with objects in the world. The purpose of this paper is to establish a novel design of an adaptive neuro-fuzzy inference system (ANFIS) for estimation of contact position of a new tactile sensing structure. Design/methodology/approach -The major task is to investigate implementations of carbon-black-filled silicone rubber for tactile sensation; the silicone rubber is electrically conductive and its resistance changes by loading or unloading strains. Findings -The sensor-elements for the tactile sensing structure were made by press-curing from carbon-black-filled silicone rubber. The experimental results can be used as training and checking data for the ANFIS network. Originality/value -This system is capable to find any change of contact positions and thus indicates state of the current contact location of the tactile sensing structure. The behavior of the use silicone rubber shows strong non-linearity, therefore, the sensor cannot be used for high accurate measurements. The greatest advantage of this sensing material lies in its high elasticity.

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