A tactile sensing method for employing force/torque information through insensitive probes

The authors propose an object shape detection system using a force/torque sensor and a flexible/inflexible insensitive probe. A tactile sensing method which makes it possible to estimate a contact position on the probe only by measuring contact force has been developed. Though the probe does not have any sensitive devices. the method derives the contact position from force information measured by the force/torque sensor. When the probe bends according to the applied force, the method compensates for the probe deflection by estimating its transformation based on force/torque sensor information. It has been applied to a manipulator system, and object shape detection experiments have been conducted using a cylindrical probe. Shapes of 3D objects have successfully been reproduced