Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors

2018 ◽  
Author(s):  
Satoshi Funabashi ◽  
Shu Morikuni ◽  
Andreas Geier ◽  
Alexander Schmitz ◽  
Shun Ogasa ◽  
...  
Keyword(s):  
Object Recognition ◽  
Active Sensing ◽  
Robot Hand ◽  
Tactile Sensors

Object Recognition Through Active Exploration Using a Multi-Fingered Robot Hand with 3D Tactile Sensors

2018 ◽  
Vol 2018 (0) ◽  
pp. 1P2-G16
Author(s):  
Shun OGASA ◽  
Shu MORIKUNI ◽  
Satoshi FUNABASHI ◽  
Alexander SCHMITZ ◽  
Tito Pradhono TOMO ◽  
...  
Keyword(s):  
Object Recognition ◽  
Robot Hand ◽  
Tactile Sensors ◽  
Active Exploration

Skin-inspired quadruple tactile sensors integrated on a robot hand enable object recognition

2020 ◽  
Vol 5 (49) ◽  
pp. eabc8134
Author(s):  
Guozhen Li ◽  
Shiqiang Liu ◽  
Liangqi Wang ◽  
Rong Zhu
Keyword(s):  
Object Recognition ◽  
Tactile Sensor ◽  
Object Identification ◽  
Robot Hand ◽  
Tactile Sensors ◽  
Object Temperature ◽  
Environment Temperature ◽  
Robot Hands ◽  
Different Shapes ◽  
Material Measure

Robot hands with tactile perception can improve the safety of object manipulation and also improve the accuracy of object identification. Here, we report the integration of quadruple tactile sensors onto a robot hand to enable precise object recognition through grasping. Our quadruple tactile sensor consists of a skin-inspired multilayer microstructure. It works as thermoreceptor with the ability to perceive thermal conductivity of a material, measure contact pressure, as well as sense object temperature and environment temperature simultaneously and independently. By combining tactile sensing information and machine learning, our smart hand has the capability to precisely recognize different shapes, sizes, and materials in a diverse set of objects. We further apply our smart hand to the task of garbage sorting and demonstrate a classification accuracy of 94% in recognizing seven types of garbage.

Stable In-Grasp Manipulation with a Low-Cost Robot Hand by Using 3-Axis Tactile Sensors with a CNN

2020 ◽  
Author(s):  
Satoshi Funabashi ◽  
Tomoki Isobe ◽  
Shun Ogasa ◽  
Tetsuya Ogata ◽  
Alexander Schmitz ◽  
...  
Keyword(s):  
Low Cost ◽  
Robot Hand ◽  
Tactile Sensors

Nonparametric Object Recognition With a New Tactile Sensor

1992 ◽  
Author(s):  
S. Unsal ◽  
A. Shirkhodaie ◽  
A. H. Soni
Keyword(s):  
Decision Making ◽  
Object Recognition ◽  
Sensory Information ◽  
Tactile Sensor ◽  
Operating Environment ◽  
Tactile Sensors ◽  
Binary Array ◽  
Software And Hardware ◽  
Robotic Applications

Abstract Adding sensing capability to a robot provides the robot with intelligent perception capability and flexibility of decision making. To perform intelligent tasks, robots are highly required to perceive their operating environment, and react accordingly. With this regard, tactile sensors offer to extend the scope of intelligence of a robot for performing tasks which require object touching, recognition, and manipulation. This paper presents the design of an inexpensive pneumatic binary-array tactile sensor for such robotic applications. The paper describes some of the techniques implemented for object recognition from binary sensory information. Furthermore, it details the development of software and hardware which facilitate the sensor to provide useful information to a robot so that the robot perceives its operating environment during manipulation of objects.

scholarly journals Object Recognition and Localization: The Role of Tactile Sensors

Sensors ◽  
2014 ◽  
Vol 14 (2) ◽  
pp. 3227-3266 ◽  
Author(s):  
Achint Aggarwal ◽  
Frank Kirchner
Keyword(s):  
Object Recognition ◽  
Tactile Sensors

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.

2P2-B39 Object Recognition by Universal Robot Hand with Distributed Pressure Sensor

2006 ◽  
Vol 2006 (0) ◽  
pp. _2P2-B39_1-_2P2-B39_3
Author(s):  
Hiroyuki NAKAMOTO ◽  
Satoru TAKENAWA ◽  
Kenjiro KANDA ◽  
Keisuke SHINNO ◽  
Futoshi KOBAYASHI ◽  
...  
Keyword(s):  
Object Recognition ◽  
Pressure Sensor ◽  
Robot Hand ◽  
Distributed Pressure
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