Haptic feature extraction from a biomimetic tactile sensor: Force, contact location and curvature

Wettels, Nicholas; Loeb, Gerald E.

doi:10.1109/robio.2011.6181676

Cited by 85 publications

(72 citation statements)

References 15 publications

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“…Many tactile sensor designs propose an array of tactile sensing elements (tactels) providing only normal force information [19,16,23] for each element. However, sometimes it is also possible to compute contact force directions from this information [23].…”

Section: Feature Extraction From Tactile Imagesmentioning

confidence: 99%

See 1 more Smart Citation

A Control Framework for Tactile Servoing

Li¹,

Schürmann²,

Haschke³

et al. 2013

Robotics: Science and Systems IX

117

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Abstract-The advent of sensor arrays providing tactile feedback with high spatial and temporal resolution asks for new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks.In this paper, we introduce a control framework to realize a whole set of tactile servoing tasks, i.e. control tasks, which intend to realize a specific tactile interaction pattern. This includes such simple tasks like tracking a touched object, maintaining both contact location and contact force, as well as more elaborate tasks like tracking an object's pose or tactile object exploration.Exploiting methods known from image processing, we introduce robust feature extraction methods to estimate the 2D contact position, the contact force, and the orientation of an object edge being in contact to the sensor. The flexible control framework allows to adapt the PID-type controller to a large range of different tasks by specification of a projection matrix toggling certain control components on and off. We demonstrate and evaluate the capabilities of the proposed control framework in a series of experiments employing a 16×16 tactile sensor array attached to a Kuka LWR as a "large" fingertip.

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Section: Feature Extraction From Tactile Imagesmentioning

confidence: 99%

“…However, sometimes it is also possible to compute contact force directions from this information [23]. Most array structures also have a reasonable spatial resolution to allow for an explicit control of the tactile force pattern sensed in a contact region.…”

Section: Feature Extraction From Tactile Imagesmentioning

confidence: 99%

A Control Framework for Tactile Servoing

Li¹,

Schürmann²,

Haschke³

et al. 2013

Robotics: Science and Systems IX

117

View full text Add to dashboard Cite

show abstract

“…For some sensors, a more specific method may be appropriate. For example, an approach for the BioTac Ò sensor presented in Wettels and Loeb (2011) uses an artificial neural network to extract the point-of-application and vector of applied force from the array of signals. With any method it will be possible for the signals from different taxels to cancel one another at some frequencies while adding constructively at others.…”

Section: Signal Power Ratiomentioning

confidence: 99%

Slip classification for dynamic tactile array sensors

Heyneman

Cutkosky

2015

The International Journal of Robotics Research

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The manipulation of objects held in a robotic hand or gripper is accompanied by events such as making and breaking contact and slippage, between the fingertips and the grasped object and between the grasped object and external surfaces. Humans can distinguish among such events, in part, because they excite the various mechanoreceptors in the hands differently. As part of an effort to provide robots with a similar capability, we propose two features that can be extracted from dynamic tactile array data and used to discriminate between hand/object and object/world slips. Both features rely on examining how slippage affects an array of dynamic tactile sensors compared with the way it affects individual elements of the array. In comparison with approaches that require extensive training with particular combinations of objects and skin, the features work for a wide range of frequencies and grasp conditions. The performance and generalizability of the features are verified with testing on three different kinds of sensors and for a range of object textures, grasp forces and slip conditions. Both features demonstrate greater than 85% accuracy in identifying the location of slip.

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“…Many tactile sensor designs propose an array of tactile sensing elements (tactels) providing normal force information [6,36,37] for each element. Sometimes it is also possible to compute contact force directions from this information [37].…”

Section: Feature Extraction From Tactile Imagesmentioning

confidence: 99%

“…Sometimes it is also possible to compute contact force directions from this information [37]. Most array structures also have a reasonable spatial resolution to allow for an explicit control of the tactile force pattern sensed in a contact region.…”

Section: Feature Extraction From Tactile Imagesmentioning

confidence: 99%

Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

Haschke

2015

Motion and Operation Planning of Robotic Systems

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The sense of touch allows humans and higher animals to perform coordinated and efficient interactions within their environment. Recently, tactile sensor arrays providing high force, spatial, and temporal resolution became available for robotics, which allows us to consider new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks. Successful dexterous manipulation strongly depends on tight feedback loops integrating proprioceptive, visual, and tactile feedback. We introduce a framework for tactile servoing that can realize specific tactile interaction patterns, for example to establish and maintain contact (grasping) or to explore and manipulate objects. We demonstrate and evaluate the capabilities of the proposed control framework in a series of preliminary experiments employing a 16 × 16 tactile sensor array attached to a Kuka LWR arm as a large fingertip.

show abstract

Haptic feature extraction from a biomimetic tactile sensor: Force, contact location and curvature

Cited by 85 publications

References 15 publications

A Control Framework for Tactile Servoing

A Control Framework for Tactile Servoing

Slip classification for dynamic tactile array sensors

Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

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