Grasping force control in consideration of translational and rotational slippage of an object by a flexible contact sensor

Saito, Naoki; Satoh, Toshiyuki; Okano, Hideharu

doi:10.1002/eej.20579

Cited by 2 publications

(2 citation statements)

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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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“…It functions as a pressure-sensitive element. This proposed sensor is an improvement version of our proposed 3D complex structural sensor [9]. After proposing the sensor structure, we Development of a four-axis flexible force sensor using conductive material Naoki Saito, Noboru Nakayama, and Toshiyuki Sato S 978-1-4577-2138-0/11/$26.00 © 2011 IEEE present the characteristics of the measurement part, including conductive material.…”

Section: Introductionmentioning

confidence: 99%

Development of a four-axis flexible force sensor using conductive material

Saito

Nakayama

Sato

2011

2011 IEEE International Conference on Robotics and Biomimetics

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This paper describes a four-axis flexible force sensor using conductive material. The contact part of this sensor is composed of silicon rubber. The measurement part of this sensor is composed of three layers including the conductive material which is made of mixture of polycarbonate and vapor grown carbon fiber (PC/VGCF). The PC/VGCF is used as a pressure-sensitive material. In addition, neural network is used to estimate four-axis contact forces in consideration of a complex deformation of the flexible contact part.In this paper, the structure and fundamental characteristics of each part of the sensor is described. The experiment of estimation of four-axis contact forces by using neural network is carried out. It is confirmed that this sensor and contact force estimation system using neural network has a possibility to identify four-axis contact force.

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Grasping force control in consideration of translational and rotational slippage of an object by a flexible contact sensor

Cited by 2 publications

References 15 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

Development of a four-axis flexible force sensor using conductive material

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