Analysis of tactile imprints for multi-fingered robot hands

This work analyses tactile imprints as observed on multi-fingered robot hands - in particular on an anthropomorphic robot hand and on an industrial 3-finger gripper. Various alternatives of representing the contact shapes are shown and evaluated in the scope of a recognition task. Another focus is on the question of what kind of contacts actually occurr and how sensor patches are involved according to their placement in the robot hand. The evaluation of the approach considers two different tactile sensors, one representing a larger surface as the palm and one smaller sensor integrated into the fingers of the robot hand.