High-speed sensing of softness during grasping process by robot hand equipped with tactile sensor

2015 ◽  
Author(s):  
Yugo Katsuki ◽  
Yuji Yamakawa ◽  
Masatoshi Ishikawa ◽  
Makoto Shimojo
Keyword(s):  
High Speed ◽  
Tactile Sensor ◽  
Robot Hand

scholarly journals High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

2011 ◽  
Vol 2011 ◽  
pp. 1-9 ◽  
Author(s):  
Wataru Fukui ◽  
Futoshi Kobayashi ◽  
Fumio Kojima ◽  
Hiroyuki Nakamoto ◽  
Nobuaki Imamura ◽  
...  
Keyword(s):  
High Resolution ◽  
High Speed ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Dexterous Manipulation ◽  
Tactile Information ◽  
Array Type ◽  
Measurement Cycle ◽  
Very High

We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.

scholarly journals Dynamic In-Hand Regrasping Using a High-Speed Robot Hand and High-Speed Vision

2020 ◽  
Vol 53 (2) ◽  
pp. 9796-9801
Author(s):  
Ryosuke Higo ◽  
Taku Senoo ◽  
Masatoshi Ishikawa
Keyword(s):  
High Speed ◽  
Robot Hand

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

A High-Speed Tactile Sensor for Slip Detection

2012 ◽  
pp. 403-415 ◽  
Author(s):  
Carsten Schürmann ◽  
Matthias Schöpfer ◽  
Robert Haschke ◽  
Helge Ritter
Keyword(s):  
High Speed ◽  
Tactile Sensor ◽  
Slip Detection

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

scholarly journals Tactile Slippage Analysis in Optical Three-Axis Tactile Sensor for Robotic Hand

2013 ◽  
Vol 465-466 ◽  
pp. 1375-1379
Author(s):  
Hanafiah Yussof ◽  
Zahari Nur Ismarrubie ◽  
Ahmad Khushairy Makhtar ◽  
Masahiro Ohka ◽  
Siti Nora Basir
Keyword(s):  
Control Algorithm ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Robot Arm ◽  
Tactile Sensors ◽  
Shear Forces ◽  
Improve Performance ◽  
Robot Arm Control ◽  
Two Phases

This paper presents experimental results of object handling motions to evaluate tactile slippage sensation in a multi fingered robot arm with optical three-axis tactile sensors installed on its two hands. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

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