Tactile sensing in dexterous robot hands — Review

Kappassov, Zhanat; Ramón, Juan Antonio Corrales; Perdereau, Véronique

doi:10.1016/j.robot.2015.07.015

Cited by 650 publications

(388 citation statements)

References 130 publications

(355 reference statements)

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“…Many tactile sensing systems are based on the same techniques used in force sensing, differentiated by disparate customization and implementation. The interested reader is directed to a thorough review providing a general overview of tactile technologies [79]. To measure distributed tactile information, rather than measuring a single force, an array of sensing elements is required.…”

Section: ) Tactile Measurement Systemsmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

202

131

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Abstract-Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of manmachine collaborative type, surgical robots are seen as media that transfer pre-and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts.

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Section: ) Tactile Measurement Systemsmentioning

confidence: 99%

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Enayati

Momi

Ferrigno

2016

IEEE Rev. Biomed. Eng.

202

131

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“…Many different kinds of tactile sensors have been developed for manipulation purposes [11]. Tactile sensors have been used for object recognition [12], improving grasp stability with force control [13] and object exploration/manipulation through edge or surface following [14].…”

Section: Background and Related Workmentioning

confidence: 99%

Tactile manipulation with biomimetic active touch

Cramphorn

Ward-Cherrier

Lepora

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Similarly in robots, tactile information is likely essential for any fine manipulation task [2], as it provides clues to the shape, texture, in-hand position and orientation of a grasped object. Many tactile sensors have been developed for integration with robot hands [3]; however complex tactile manipulation (i.e. in-hand repositioning and reorientation of objects through the use of tactile feedback) is still an area in which humans vastly outperform robots.…”

Section: Introductionmentioning

confidence: 99%

Model-Free Precise in-Hand Manipulation with a 3D-Printed Tactile Gripper

Ward-Cherrier

Rojas

Lepora

2017

IEEE Robot. Autom. Lett.

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Abstract-The use of tactile feedback for precision manipulation in robotics still lags far behind human capabilities. This study has two principal aims: 1) to demonstrate in-hand reorientation of grasped objects through active tactile manipulation; and 2) to present the development of a novel TacTip sensor and a GR2 gripper platform for tactile manipulation. Through the use of Bayesian active perception algorithms, the system successfully achieved inhand reorientation of cylinders of different diameters (20, 25, 30, and 35 mm) using tactile feedback. Average orientation errors along manipulation trajectories were below 5• for all cylinders with reorientation ranges varying from 42• to 67• . We also demonstrated an improvement in active tactile manipulation accuracy when using additional training data. Our methods for active tactile manipulation with the GR2 TacTip gripper are model free, can be used to investigate principles of dexterous manipulation, and could lead to essential advances in the areas of robotic tactile manipulation and teleoperated robots.Index Terms-Dexterous manipulation, force and tactile sensing, grippers and other end-effectors.

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Tactile sensing in dexterous robot hands — Review

Abstract: International audienc

Cited by 650 publications

References 130 publications

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Haptics in Robot-Assisted Surgery: Challenges and Benefits

Tactile manipulation with biomimetic active touch

Model-Free Precise in-Hand Manipulation with a 3D-Printed Tactile Gripper

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