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

Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy

2017 ◽  
Author(s):  
Tiago Paulino ◽  
Pedro Ribeiro ◽  
Miguel Neto ◽  
Susana Cardoso ◽  
Alexander Schmitz ◽  
...  
Keyword(s):  
Low Cost ◽  
Tactile Sensors

scholarly journals A low-cost, human-like, high-resolution, tactile sensor based on optical fibers and an image sensor

2018 ◽  
Vol 15 (4) ◽  
pp. 172988141878363 ◽  
Author(s):  
Utku Büyükşahin ◽  
Ahmet Kırlı
Keyword(s):  
High Resolution ◽  
Spatial Resolution ◽  
Fiber Optic ◽  
Low Cost ◽  
Experimental Studies ◽  
Main Idea ◽  
Tactile Sensor ◽  
Image Sensor ◽  
Sensor Design ◽  
Tactile Sensors

Tactile sensors are commonly a coordinated group of receptors forming a matrix array meant to measure force or pressure similar to the human skin. Optic-based tactile sensors are flexible, sensitive, and fast; however, the human fingertip’s spatial resolution, which can be regarded as the desired spatial resolution, still could not be reached because of their bulky nature. This article proposes a novel and patented optic-based tactile sensor design, in which fiber optic cables are used to increase the number of sensory receptors per square centimeter. The proposed human-like high-resolution tactile sensor design is based on simple optics and image processing techniques, and it enables high spatial resolution and easy data acquisition at low cost. This design proposes using the change in the intesity of the light occured due to the deformation on contact/measurement surface. The main idea is using fiber optic cables as the afferents of the human physiology which can have 9 µm diameters for both delivering and receiving light beams. The variation of the light intensity enters sequent mathematical models as the input, then, the displacement, the force, and the pressure data are evaluated as the outputs. A prototype tactile sensor is manufactured with 1-mm spatial and 0.61-kPa pressure measurement resolution with 0–15.6 N/cm2 at 30 Hz sampling frequency. Experimental studies with different scenarios are conducted to demonstrate how this state-of-the-art design worked and to evaluate its performance. The overall accuracy of the first prototype, based on different scenarios, is calculated as 93%. This performance is regarded as promising for further developments and applications such as grasp control or haptics.

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.

High-Accuracy and Low-Cost Chamfering System by a Material-Handling Robot –Individual Error Compensation Using Image Processing–

2009 ◽  
Vol 3 (4) ◽  
pp. 465-470 ◽  
Author(s):  
Naoki Asakawa ◽  
◽  
Hidetake Tanaka ◽  
Tomoya Kiyoshige ◽  
Masatoshi Hirao ◽  
...  
Keyword(s):  
Image Processing ◽  
Error Compensation ◽  
Material Handling ◽  
Low Cost ◽  
High Accuracy ◽  
Processing Technology ◽  
Experimental Result ◽  
Robot Hand ◽  
Dimensional Error ◽  
System A

The study deals with an automation of chamfering by a material-handling robot with considering of accuracy and costs. The study focused on automation of chamfering without influence of individual dimensional error of workpiece. A casted impeller usually chamfered with handwork is treated in the study as an example of a workpiece having individual dimensional error. In the system, a file driven by air reciprocating actuator is used as a chamfering tool and image processing technology is used to compensate the dimensional error of the workpiece. The robot hand carries a workpiece instead of a chamfering tool both for chamfering and for material handling. From the experimental result, the system is found effective to chamfer a workpiece having dimensional error automatically.

2P2-B20 Acquisition of Slip Expression by a Robot Hand with Vision and Tactile Sensors and Achieving a Pick-Up Task

2006 ◽  
Vol 2006 (0) ◽  
pp. _2P2-B20_1-_2P2-B20_4
Author(s):  
Yasunori TADA ◽  
Atsushi FUKUDA ◽  
Koh HOSODA
Keyword(s):  
Robot Hand ◽  
Tactile Sensors

Low-Cost Disposable Tactile Sensors for Palpation in Minimally Invasive Surgery

2017 ◽  
Vol 22 (1) ◽  
pp. 127-137 ◽  
Author(s):  
Anish S. Naidu ◽  
Rajni V. Patel ◽  
Michael D. Naish
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Low Cost ◽  
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

scholarly journals Tactile Recognition Based on Fuzzy Production Rules Using Robot Hand Equipped with Three-Axis Tactile Sensors.

1995 ◽  
Vol 61 (588) ◽  
pp. 3318-3325
Author(s):  
Masahiro Ohka ◽  
Shuichi Takeuchi ◽  
Yasunaga Mitsuya
Keyword(s):  
Robot Hand ◽  
Production Rules ◽  
Tactile Sensors ◽  
Fuzzy Production Rules
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