DocumentCode
399725
Title
A new method of tactile sensing using fingertip with soft skin
Author
Murakami, Kouji ; Hasegawa, Tsutomu
Author_Institution
Dept. of Intelligent Syst., Kyushu Univ., Fukuoka, Japan
Volume
1
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
335
Abstract
This paper describes a sensing function of a multi-jointed multi-fingered hand with soft fingertips. We propose a new method to detect change of contact types with an object while manipulating it: the fingertip contact with a flat surface and with a convex sharp edge. Proposed method can apply to the manipulation with rolling contact. Experimental results are demonstrated.
Keywords
manipulator kinematics; mechanical contact; tactile sensors; touch (physiological); multijointed multifingered robotic hand; rolling contact; soft fingertips; tactile sensing; Biological tissues; Contacts; Fingers; Friction; Humans; Nails; Robot kinematics; Robot sensing systems; Shape; Skin;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1250684
Filename
1250684
Link To Document