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

Tactile information is valuable in determining properties of objects that are inaccessible from visual perception. A new type of tangential friction and normal contact force magnetostrictive tactile sensor was developed based on the inverse magnetostrictive effect, and the force output model has been established. It can measure the exerted force in the range of 0–4 N, and it has a good response to the dynamic force in cycles of 0.25–0.5 s. We present a tactile perception strategy that a manipulator with tactile sensors in its grippers manipulates an object to measure a set of tactile features. It shows that tactile sensing system can use these features and the extreme learning machine algorithm to recognize household objects—purely from tactile sensing—from a small training set. The complex matrixes show the recognition rate is up to 83%.

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High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

Journal of Robotics ◽

10.1155/2011/691769 ◽

2011 ◽

Vol 2011 ◽

pp. 1-9 ◽

Cited By ~ 6

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.

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STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

International Journal of Information Acquisition ◽

10.1142/s0219878911002458 ◽

2011 ◽

Vol 08 (03) ◽

pp. 181-195

Author(s):

ZHAOXIAN XIE ◽

HISASHI YAMAGUCHI ◽

MASAHITO TSUKANO ◽

AIGUO MING ◽

MAKOTO SHIMOJO

Keyword(s):

Fuzzy Logic ◽

Feedback Control ◽

Experimental Verification ◽

High Speed ◽

Center Of Pressure ◽

Tactile Sensor ◽

Mobile Manipulator ◽

Tactile Sensing ◽

Robot Arm ◽

Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

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Representation and tactile sensing of 3-D objects by a gripper finger

Robotica ◽

10.1017/s0263574700002149 ◽

1983 ◽

Vol 1 (4) ◽

pp. 217-222 ◽

Cited By ~ 6

Author(s):

Gen-Ichiro Kinoshita

Keyword(s):

Tactile Sensor ◽

Large Displacement ◽

Tactile Sensing ◽

Sensor Element ◽

Maximum Displacement

SUMMARYThe tactile sensor is constructed as a part of the finger of a parallel jaw hand; it is of the size of a finger and allows for a large displacement of the sensor element in response to force. The structure of the tactile sensor incorporates 20 successively and closely aligned elements, which allow for a 2.5 mm maximum displacement for each element. In the described experiments we present the capabilities of the tactile sensor. The tactile sensor has the functions of: 1) discriminating the shape of the partial surface of an object; and 2) tracing by finger on the surface along the profile of an object.

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Mechanics-induced triple-mode anticounterfeiting and moving tactile sensing by simultaneously utilizing instantaneous and persistent mechanoluminescence

Materials Horizons ◽

10.1039/c9mh01028a ◽

2019 ◽

Vol 6 (10) ◽

pp. 2003-2008 ◽

Cited By ~ 14

Author(s):

Zhidong Ma ◽

Jinyu Zhou ◽

Jiachi Zhang ◽

Songshan Zeng ◽

Hui Zhou ◽

...

Keyword(s):

Tactile Sensor ◽

Tactile Sensing ◽

Triple Mode

An intriguing mechanics-induced triple-mode anticounterfeiting device and a moving tactile sensor were developed by simultaneously utilizing transient and persistent mechanoluminescence.

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Learning robot tactile sensing for object manipulation

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2014.6943031 ◽

2014 ◽

Cited By ~ 22

Author(s):

Yevgen Chebotar ◽

Oliver Kroemer ◽

Jan Peters

Keyword(s):

Object Manipulation ◽

Tactile Sensing

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Vision, touch and object manipulation in Senegal parrots Poicephalus senegalus

Proceedings of The Royal Society B Biological Sciences ◽

10.1098/rspb.2011.0374 ◽

2011 ◽

Vol 278 (1725) ◽

pp. 3687-3693 ◽

Cited By ~ 33

Author(s):

Zoe P. Demery ◽

Jackie Chappell ◽

Graham R. Martin

Keyword(s):

Visual Fields ◽

Bird Species ◽

Object Manipulation ◽

Field Configuration ◽

Tactile Information ◽

Binocular Field ◽

Prime Determinant ◽

Tactile Cues ◽

Foraging Method ◽

Visual Coverage

Parrots are exceptional among birds for their high levels of exploratory behaviour and manipulatory abilities. It has been argued that foraging method is the prime determinant of a bird's visual field configuration. However, here we argue that the topography of visual fields in parrots is related to their playful dexterity, unique anatomy and particularly the tactile information that is gained through their bill tip organ during object manipulation. We measured the visual fields of Senegal parrots Poicephalus senegalus using the ophthalmoscopic reflex technique and also report some preliminary observations on the bill tip organ in this species. We found that the visual fields of Senegal parrots are unlike those described hitherto in any other bird species, with both a relatively broad frontal binocular field and a near comprehensive field of view around the head. The behavioural implications are discussed and we consider how extractive foraging and object exploration, mediated in part by tactile cues from the bill, has led to the absence of visual coverage of the region below the bill in favour of more comprehensive visual coverage above the head.

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Detecting Feature of Haptic Interaction Based on Distributed Tactile Sensor Network on Whole Body

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2007.p0042 ◽

2007 ◽

Vol 19 (1) ◽

pp. 42-51 ◽

Cited By ~ 2

Author(s):

Tomoyuki Noda ◽

◽

Takahiro Miyashita ◽

Hiroshi Ishiguro ◽

Kiyoshi Kogure ◽

...

Keyword(s):

Sensor Network ◽

Tactile Sensor ◽

The Self ◽

Whole Body ◽

Transmission Protocol ◽

Processing Unit ◽

Haptic Interaction ◽

Tactile Information ◽

Self Organized ◽

Basic Experiments

To extract information about users contacting robots physically, the distribution density of tactile sensor elements, the sampling rate, and the resolution all must be high, increasing the volume of tactile information. In the self-organized skin sensor network we propose for dealing with a large number of tactile sensors embedded throughout a humanoid robot, each network node having a processing unit is connected to tactile sensor elements and other nodes. By processing tactile information in the network based on the situation, individual nodes process and reduce information rapidly in high sampling. They also secure information transmission routes to the host PC using a data transmission protocol for self-organizing sensor networks. In this paper, we verify effectiveness of our proposal through sensor network emulation and basic experiments in spatiotemporal calculation of tactile information using prototype hardware. As an emulation result of the self-organized sensor network, routes to the host PC are secured at each node, and a tree-like network is constructed recursively with the node as a root. As the basic experiments, we describe an edge detection as data processing and extraction for haptic interaction. In conclusion, local information processing is effective for detecting features of haptic interaction.

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1P1-O03 Development of a MEMS Multilayer Array Type Tactile Sensor Usins PDMS Material

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2007._1p1-o03_1 ◽

2007 ◽

Vol 2007 (0) ◽

pp. _1P1-O03_1-_1P1-O03_4 ◽

Cited By ~ 1

Author(s):

Mai TAKESHITA ◽

Katsuhide FURUKAWA ◽

Daisuke ONO ◽

Takaaki TANAKA ◽

Seiji AOYAGI

Keyword(s):

Tactile Sensor ◽

Array Type

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RECOGNITION OF CONTACT STATE BY USING NEURAL NETWORK FOR MICROMACHINED ARRAY TYPE TACTILE SENSOR

International Journal of Information Acquisition ◽

10.1142/s0219878905000568 ◽

2005 ◽

Vol 02 (03) ◽

pp. 181-190 ◽

Cited By ~ 3

Author(s):

SEIJI AOYAGI ◽

TAKAAKI TANAKA ◽

KENJI MAKIHIRA

Keyword(s):

Neural Network ◽

Rotation Angle ◽

Simulated Data ◽

Tactile Sensor ◽

Training Data ◽

Sensing Element ◽

Array Type ◽

Tactile Pattern ◽

Hidden Layer ◽

Contact Position

In this paper, a force sensing element having a pillar and a diaphragm is proposed and thereafter fabricated by micromachining. Piezo resistors are fabricated on a silicon diaphragm for detecting distortions caused by a force input to a pillar on the diaphragm. Since a practical arrayed sensor consisting of many of this element is still under development, the output of an assumed arrayed type tactile sensor is simulated by FEM (finite element method). Using simulated data, the possibility of tactile pattern recognition using a neural network (NN) is investigated. The learning method of NN, the number of units of the input layer and the hidden layer, as well as the number of training data are investigated for realizing high probability of recognition. The 14 subjects having different shape and size are recognized. This recognition succeeded even if the contact position and the rotation angle of these objects are changed.

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