Title :
Tactile Measurement of Local Contact Geometry Using Soft Fingertip with Force/Torque Sensor
Author :
Murakami, Kouji ; Hasegawa, Tsutomu
Author_Institution :
Graduate Sch. of Inf. Sci. & Electr. Eng., Kyushu Univ., Fukuoka
Abstract :
We propose a new method of tactile sensing for a fingertip of robotic hand based on the analysis of the mechanical constraints imposed to the contact between the fingertip and the contacting object. Using a simple fingertip with soft surface cover and a six-axis force/torque sensor, a new function is developed to measure direction of local geometry of a class of objects when the fingertip contacts with them. The developed function is useful not only to plan strategies for stable grasp and dexterous manipulation but also to recognize a geometrical shape of an object. Two necessary components, a six-axis force/torque sensor and a soft skin, are commercially available. They neither restrict design of a robotic fingertip nor badly affect essential functions of stable grasping and manipulation
Keywords :
dexterous manipulators; force sensors; object recognition; tactile sensors; dexterous manipulation; geometrical shape recognition; local contact geometry; mechanical constraints; robotic hand fingertip; six-axis force-torque sensor; soft fingertip; tactile measurement; tactile sensing; Computational geometry; Contacts; Force measurement; Force sensors; Intelligent robots; Mechanical sensors; Robot sensing systems; Shape measurement; Tactile sensors; Torque measurement; multifingered robotic hand; soft fingertip; tactile sensing;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282322