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 Hi-Speed Tactile Sensing for Array-type Tactile Sensor and Object Manipulation based on Tactile Information

2012 ◽  
Vol 25 (5) ◽  
pp. 117-125
Author(s):  
Wataru Fukui ◽  
Futoshi Kobayashi ◽  
Fumio Kojima ◽  
Hiroyuki Nakamoto ◽  
Tadashi Maeda ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Object Manipulation ◽  
Tactile Sensing ◽  
Tactile Information ◽  
Array Type

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.

scholarly journals Development of Fully Flexible Tactile Pressure Sensor with Bilayer Interlaced Bumps for Robotic Grasping Applications

Micromachines ◽  
2020 ◽  
Vol 11 (8) ◽  
pp. 770
Author(s):  
Lingfeng Zhu ◽  
Yancheng Wang ◽  
Deqing Mei ◽  
Chengpeng Jiang
Keyword(s):  
Pressure Sensor ◽  
Tactile Sensor ◽  
External Pressure ◽  
Robotic Hand ◽  
Sensing Element ◽  
Tactile Sensors ◽  
Human Machine Interaction ◽  
Tactile Information ◽  
Sensing Range ◽  
Intelligent Robotics

Flexible tactile sensors have been utilized in intelligent robotics for human-machine interaction and healthcare monitoring. The relatively low flexibility, unbalanced sensitivity and sensing range of the tactile sensors are hindering the accurate tactile information perception during robotic hand grasping of different objects. This paper developed a fully flexible tactile pressure sensor, using the flexible graphene and silver composites as the sensing element and stretchable electrodes, respectively. As for the structural design of the tactile sensor, the proposed bilayer interlaced bumps can be used to convert external pressure into the stretching of graphene composites. The fabricated tactile sensor exhibits a high sensing performance, including relatively high sensitivity (up to 3.40% kPa−1), wide sensing range (200 kPa), good dynamic response, and considerable repeatability. Then, the tactile sensor has been integrated with the robotic hand finger, and the grasping results have indicated the capability of using the tactile sensor to detect the distributed pressure during grasping applications. The grasping motions, properties of the objects can be further analyzed through the acquired tactile information in time and spatial domains, demonstrating the potential applications of the tactile sensor in intelligent robotics and human-machine interfaces.

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 A MEMS Tactile Sensor with Fingerprint-Like Array of Contactors for High Resolution Visualization of Surface Distribution of Tactile Information

2020 ◽  
Vol 32 (2) ◽  
pp. 305-314
Author(s):  
Kazuki Watatani ◽  
◽  
Kyohei Terao ◽  
Fusao Shimokawa ◽  
Hidekuni Takao
Keyword(s):  
High Resolution ◽  
Frictional Force ◽  
Present Report ◽  
Tactile Sensor ◽  
Mechanical Analysis ◽  
Surface Shape ◽  
Woven Fabric ◽  
Surface Distribution ◽  
Tactile Information ◽  
Fabric Surface

In the present report, we have developed a tactile sensor with fingerprint-like array of contactors for obtaining the surface distribution of tactile information in high spatial resolutions. Six high resolution sensing modules of contactors with biaxial detectors were integrated in line at a pitch of 500 μm, the typical pitch of fingerprint ridges. Each sensing module independently detected the micro surface shape and locally generated frictional force on the object surfaces. Mechanical analysis of the fabricated sensors showed good sensitivities and highly linear responses. Consequently, the measured detection resolutions of surface shape and frictional force were 0.17 μm and 9.9 μN, respectively. The experimental performance evaluation of fabricated sensor was measured in the distribution of tactile information by sweeping the sensor with a yaw angle. Additionally, the 3D surface shape of weave structure and surface distribution of frictional force in a woven fabric with 0.4 mm pitch of threads in high spatial resolution was clearly visualized/observed. Moreover, the directionality of tactile information of the fabric surface distribution was successfully realized using the tactile sensor with the array of contactors by sweeping in different directions.

scholarly journals Detection of Low RCS Supersonic Flying Targets with a High-Resolution MMW Radar

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3284
Author(s):  
Nezah Balal ◽  
Yael Balal ◽  
Yair Richter ◽  
Yosef Pinhasi
Keyword(s):  
High Resolution ◽  
High Speed ◽  
Continuous Wave ◽  
Sampling Rate ◽  
Millimeter Wave Radar ◽  
Small Antennas ◽  
Extremely High Frequency ◽  
Movement Characteristics ◽  
Wave Radar ◽  
Very High

In this study, the detection of a low radar cross-section (RCS) target moving at a very high speed using a high-resolution millimeter-wave radar is presented. This real-time detection is based on the transmission of a continuous wave and heterodyning of the received signal reflected from the moving target. This type of detection enables one to extract the object’s movement characteristics, such as velocity and position, while in motion and also to extract its physical characteristics. In this paper, we describe the detection of a fired bullet using a radar operating at an extremely high-frequency band. This allowed us to employ a low sampling rate which enabled the use of inexpensive and straightforward equipment, including the use of small antennas that allow velocity detection at high resolution and with low atmospheric absorption.

Visual-Servoing Control of Robot Hand with Estimation of Full Articulation of Human Hand

2014 ◽  
Vol 625 ◽  
pp. 728-735
Author(s):  
Motomasa Tomida ◽  
Kiyoshi Hoshino
Keyword(s):  
High Speed ◽  
Visual Servoing ◽  
Image Features ◽  
Human Hand ◽  
Depth Camera ◽  
Robotic Hand ◽  
Robot Hand ◽  
Depth Sensor ◽  
Data Set ◽  
Hand Image

A depth sensor or depth camera is available at a reasonable cost in recent years. Due to the excessive dispersion of depth values outputted from the depth camera, however, changes in the pose cannot be directly employed for complicated hand pose estimation. The authors therefore propose a visual-servoing controlled robotic hand with RGB high-speed cameras. Two cameras have their own database in the system. Each data set has proportional information of each hand image and image features for matching, and joint angle data for output as estimated results. Once sequential hand images are recorded with two high-speed RGB cameras, the system first selects one database with bigger size of hand region in each recorded image. Second, a coarse screening is carried out according to the proportional information on the hand image which roughly corresponds to wrist rotation, or thumb or finger extension. Third, a detailed search is performed for similarity among the selected candidates. The estimated results are transmitted to a robot hand so that the same motions of an operator is reconstructed in the robot without time delay.

scholarly journals Development of a flexible and stretchable tactile sensor array with two different structures for robotic hand application

RSC Advances ◽  
2017 ◽  
Vol 7 (76) ◽  
pp. 48461-48465 ◽  
Author(s):  
Xiaozhi Wang ◽  
Tianbai Xu ◽  
Shurong Dong ◽  
Shijian Li ◽  
Liyang Yu ◽  
...  
Keyword(s):  
Sensor Array ◽  
Tactile Sensor ◽  
Robotic Hand ◽  
Robot Hand ◽  
Sensors Array ◽  
Tactile Sensor Array

A flexible capacitance sensors array for robot hand application which could be used for objects distinction.

Origami Folding by a Robotic Hand

2008 ◽  
Vol 20 (4) ◽  
pp. 550-558 ◽  
Author(s):  
Kenta Tanaka ◽  
◽  
Yusuke Kamotani ◽  
Yasuyoshi Yokokohji
Keyword(s):  
Difficult Problem ◽  
Target Object ◽  
Robotic Hand ◽  
Robot Hand ◽  
Human Being ◽  
Dexterous Manipulation ◽  
Paper Folding ◽  
Human Finger ◽  
Task Oriented ◽  
Dexterous Robot Hand

Dexterous manipulation by a robotic hand is a difficult problem involving (1) how to design a robot that gives the capability to achieve the task and (2) how to control the designed robot to actually conduct the task. In this paper, we take a task-oriented approach called “task capture” to construct a dexterous robot hand system. Before designing the robot, we analyze how a human being conducts the task, focusing on how the target object is manipulated rather than trying to imitate human finger movement. Based on the captured task, we design a robot that manipulates an object in the same way as a human being may do, with a mechanism as simple as possible, rather than concerning human appearance. As a target task, we choose origami paper folding. We first analyze the difficulty of origami manipulation and design a robotic mechanism that folds an origami form, the Tadpole, based on the proposed approach. The proof of how well the “task capture” approach works is demonstrated by a simple robot we developed, which folds a Tadpole consecutively.

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