Slip detection by tactile sensors: algorithms and experimental results

For dexterous grasping and manipulation, tactile sensors recognizing contact object are essential. Electronic skin (E-skin) with tactile sensors plays a role as both receiving information for grasping and protecting robot frame. This paper presents a polymer tactile sensor covering large area to fulfill role of E-skin. The sensor has a thin air gap between polymer layers and it is deformed reacting slip input. When slip is occurred, there is relative displacement between surrounding layer and it incurs change of electrode separation. NBR is used to sensor substrate because of its tough and flexible characteristic. Ultrathin aluminum tape is employed for electrodes. There is a changeability of size of the sensor because of its simple but effective working principle and structure. Slip detecting algorithm doesn’t have a post process such as FFT or DWT, so there isn’t delay for processing time. It realizes real-time slip detection reducing reaction time of robot hand.

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1 ms Soft Areal Tactile Giving Robots Soft Response

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2008.p0473 ◽

2008 ◽

Vol 20 (3) ◽

pp. 473-480 ◽

Cited By ~ 10

Author(s):

Toshiharu Mukai ◽

◽

Yo Kato

Keyword(s):

Sampling Period ◽

Experimental Results ◽

Tactile Sensors ◽

Dexterous Manipulation

Human-interactive robots such as those used for nursing should be covered with soft areal tactile sensors for safety and dexterous manipulation. We are developing a human-interactive robot named RI-MAN that is covered with soft areal tactile sensors. The sensors used so far had a sampling period of 15 ms, which is insufficient for smooth sensor feedback response. Here we report our new tactile sensors with 1 ms sampling and improved sensitivity, as well as its experimental results.

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Development of Direct-printed Tactile Sensors for Gripper Control through Contact and Slip Detection

International Journal of Control Automation and Systems ◽

10.1007/s12555-017-0151-x ◽

2018 ◽

Vol 16 (2) ◽

pp. 929-936 ◽

Cited By ~ 6

Author(s):

Ju-Kyoung Lee ◽

Hyun-Hee Kim ◽

Jae-Won Choi ◽

Kyung-Chang Lee ◽

Suk Lee

Keyword(s):

Tactile Sensors ◽

Slip Detection

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Tactile Sensors for Friction Estimation and Incipient Slip Detection—Toward Dexterous Robotic Manipulation: A Review

IEEE Sensors Journal ◽

10.1109/jsen.2018.2868340 ◽

2018 ◽

Vol 18 (22) ◽

pp. 9049-9064 ◽

Cited By ~ 20

Author(s):

Wei Chen ◽

Heba Khamis ◽

Ingvars Birznieks ◽

Nathan F. Lepora ◽

Stephen J. Redmond

Keyword(s):

Robotic Manipulation ◽

Tactile Sensors ◽

Friction Estimation ◽

Slip Detection

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A Tactile-Based Wire Manipulation System for Manufacturing Applications

Robotics ◽

10.3390/robotics8020046 ◽

2019 ◽

Vol 8 (2) ◽

pp. 46 ◽

Cited By ~ 3

Author(s):

Gianluca Palli ◽

Salvatore Pirozzi

Keyword(s):

Success Rate ◽

Shape Reconstruction ◽

Experimental Results ◽

Tactile Sensors ◽

End Effector ◽

Manipulation System ◽

The Wire ◽

Manufacturing Applications ◽

Human Operators

This paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears. This task is currently executed by human operators; the WIRES Project tackles the development of a suitably designed sensorized end effector for the wire precise manipulation. In particular, the developed gripper with tactile sensors are shown and a procedure for the implementation of the insertion task is presented and discussed. Experimental results are reported both for quality of wire shape reconstruction and success rate of insertion task implementation.

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Tactile Behaviors with the Vision-Based Tactile Sensor FingerVision

International Journal of Humanoid Robotics ◽

10.1142/s0219843619400024 ◽

2019 ◽

Vol 16 (03) ◽

pp. 1940002 ◽

Cited By ~ 3

Author(s):

Akihiko Yamaguchi ◽

Christopher G. Atkeson

Keyword(s):

Computer Vision ◽

High Resolution ◽

Contact Force ◽

Low Cost ◽

Tactile Sensor ◽

Tactile Sensors ◽

Elastic Skin ◽

Slip Detection

This paper introduces a vision-based tactile sensor FingerVision, and explores its usefulness in tactile behaviors. FingerVision consists of a transparent elastic skin marked with dots, and a camera that is easy to fabricate, low cost, and physically robust. Unlike other vision-based tactile sensors, the complete transparency of the FingerVision skin provides multimodal sensation. The modalities sensed by FingerVision include distributions of force and slip, and object information such as distance, location, pose, size, shape, and texture. The slip detection is very sensitive since it is obtained by computer vision directly applied to the output from the FingerVision camera. It provides high-resolution slip detection, which does not depend on the contact force, i.e., it can sense slip of a lightweight object that generates negligible contact force. The tactile behaviors explored in this paper include manipulations that utilize this feature. For example, we demonstrate that grasp adaptation with FingerVision can grasp origami, and other deformable and fragile objects such as vegetables, fruits, and raw eggs.

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