Soft-Material-Based Highly Reliable Tri-Axis Tactile Thin-Film Sensors for Robotic Manipulation Tasks

Tsukamoto, Kei; Ebisui, Akira; Goto, Tetsuro; Sakakura, Yoshiaki; Kobayashi, Ken; Sato, Satoshi; Kamei, Takeshi; Imai, Yutaka; Nomoto, Kazumasa

doi:10.1109/sensors47087.2021.9639695

Cited by 1 publication

(1 citation statement)

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“…Slippage is one of a common motion [2], which needs to be prevented by grip force controlling. For a stable grasp, the tactile sensors must have the ability to accurately obtain tactile information of slippage and pressure [3,4].…”

Section: Introductionmentioning

confidence: 99%

A vision-based tactile sensor with single contact surface for pressure and slippage estimation

Feng,

Fang,

Wang

2024

Fourth International Conference on Computer Vision and Information Technology (CVIT 2023)

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Touch is an important way that a human being senses the surrounding environment, but in robotic applications, it is difficult to obtain static and dynamic tactile signals simultaneously. In this paper, we proposed a new vison-based tactile sensor to estimate pressure and slippage distance at the same time. The sensor recognizes the deformation degree of elastomer through image processing, and the pressure is estimated according to the radius of contact region. Sensor captures the surface of the contact object and tracks feature point to calculate optical flow. Then the slippage distance is estimated by Kalman filtering and integration of the optical flow. The sensor is realized in a small package, so it can be useful in wide range of scenarios. Here we also built a two-dimensional experimental platform to test the sensor, and the experimental results show that the average error of pressure estimation is 6.4%, and the average error of slippage estimation is 14.4% at 5mm/s, demonstrating a good sensing performance for providing pressure and slippage via the single contact surface.

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Section: Introductionmentioning

confidence: 99%