Incipient Slip Detection Method with Vision-Based Tactile Sensor based on Distribution Force and Deformation

Robotic manipulators have to constantly deal with the complex task of detecting whether a grasp is stable or, in contrast, whether the grasped object is slipping. Recognising the type of slippage—translational, rotational—and its direction is more challenging than detecting only stability, but is simultaneously of greater use as regards correcting the aforementioned grasping issues. In this work, we propose a learning methodology for detecting the direction of a slip (seven categories) using spatio-temporal tactile features learnt from one tactile sensor. Tactile readings are, therefore, pre-processed and fed to a ConvLSTM that learns to detect these directions with just 50 ms of data. We have extensively evaluated the performance of the system and have achieved relatively high results at the detection of the direction of slip on unseen objects with familiar properties (82.56% accuracy).

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Novel Adaptive GPS Cycle Slip Detection Method Based on TDCP Measurements in Urban Environments*

2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC) ◽

10.1109/gncc42960.2018.9019026 ◽

2018 ◽

Author(s):

Xiaohan Ma ◽

Jizhou Lai ◽

Shiyu Bai ◽

Pin Lyu

Keyword(s):

Detection Method ◽

Urban Environments ◽

Cycle Slip ◽

Cycle Slip Detection ◽

Slip Detection

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116 Slip detection using a hybrid tactile sensor system for a robot gripping an object

The Proceedings of Conference of Tokai Branch ◽

10.1299/jsmetokai.2012.61._116-1_ ◽

2012 ◽

Vol 2012.61 (0) ◽

pp. _116-1_-_116-2_

Author(s):

Naoto INAGUMA ◽

Takuya KAWAMURA ◽

Kazuo TANI ◽

Hironao YAMADA

Keyword(s):

Tactile Sensor ◽

Sensor System ◽

Slip Detection

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A Flexible Tactile Capacitive Sensor for Slip Detection

Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B ◽

10.1115/detc2011-48893 ◽

2011 ◽

Cited By ~ 1

Author(s):

Jinah Chung ◽

Baek-chul Kim ◽

H. R. Choi ◽

H. P. Moon ◽

Y. K. Lee ◽

...

Keyword(s):

Tactile Sensor ◽

Capacitive Sensor ◽

Robot Hand ◽

Sensor Device ◽

Sensor Structure ◽

Slip Sensor ◽

Slip Detection

A tactile sensor for slip detection is necessary for humanlike grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrlyro-nitrile butadien rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint -like structures that are similar with the role of the human’s fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.

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