Title :
Development and Analysis of a Sliding Tactile Soft Fingertip Embedded With a Microforce/Moment Sensor
Author :
Ho, Van Anh ; Dao, Dzung Viet ; Sugiyama, Susumu ; Hirai, Shinichi
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
fDate :
6/1/2011 12:00:00 AM
Abstract :
We describe the development of a tactile hemispherical soft fingertip (FT) of a size similar to that of a human thumb. The sensory core consists of a microscaled force/torque sensor that can output one component of force and two components of moment simultaneously, which was developed beforehand. This sensor is embedded in a polyurethane rubber hemispherical dome to form a complete soft, compliant, and perceptible robotic FT. This system is designed for easy fabrication, high reliability in outputting signals, and stable operation. Static and dynamic mathematical analyses were utilized to investigate the responses of the sensor during the typical sliding motion of an FT. This was followed by experiments to show its potential in tactile and texture recognition. Especially, incipient-slip detection, which is critical in grasping manipulations, can be assessed properly and in a timely way. The development of this tactile FT is considered significant in the field of dexterous manipulation.
Keywords :
dexterous manipulators; force sensors; microsensors; tactile sensors; dexterous manipulation; dynamic mathematical analysis; grasping manipulation; human thumb; incipient slip detection; microforce-moment sensor; microscaled force-torque sensor; perceptible robotic FT; polyurethane rubber hemispherical dome; sensory core; sliding motion; sliding tactile hemispherical soft fingertip; static mathematical analysis; tactile FT; tactile recognition; texture recognition; Bridge circuits; Force; Mathematical model; Robot sensing systems; Skin; Stress; Contact modeling; sliding motion; soft fingertip (FT); tactile sensing;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2010.2103470