Title :
Sensing surface shape by touch
Author :
Russell, R.Andrew ; Parkinson, Simon
Author_Institution :
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
Abstract :
The design and construction of a tactile sensor that has been developed to measure the surface shape of objects held between the fingers of a robot gripper are described. A robotic tactile sensory workcell has been assembled to investigate touch-mediated grasping and object manipulation. This system requires sensors to provide surface profile information for experiments involving object manipulation and shape determination. A piezoresistive tactile sensor originally developed for the workcell proved to be generally unsuitable because its stiff sensing surface gave little surface shape information. A solution was provided by a tactile sensor designed to have a compliant structure
Keywords :
robots; tactile sensors; robot gripper; surface profile information; surface shape sensing; tactile sensor; touch-mediated grasping; Fingers; Force measurement; Force sensors; Grippers; Intelligent robots; Intelligent sensors; Robot sensing systems; Shape measurement; Skin; Tactile sensors;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292017
