Compensating Uncertainties in Force Sensing for Robotic-Assisted Palpation

A general framework for automatic robotic palpation

Palpation process using elastography has been studied for malign tissue localization. This technique has been applied in ultrasound and magnetic resonance imaging modalities. However, the ultrasound features make it suitable for roboticassisted systems in real-time [1], [2], [3]. The basic principle of ultrasound elastography is based on quasi-static mechanic compression of a target tissue with...

Force/Torque Sensing Applied to Industrial Robotic Deburring

Force/Torque sensing is very important for several automatic and industrial robotic applications. Basically, if precise control of the forces that arise from contact between tools and parts is required to successfully complete the automatic task, then a force/torque sensor is needed along with some force/torque control technique. In this paper we focus on force/torque sensing aspects applied to...

Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device

Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback betwe...

Tactile Sensing for Robotic Applications

Robotic devices – limited to the structured environment of manufacturing plants until few years ago – are slowly making way into human life, which has led to the emergence of interaction and learning issues in robots. Such issues are important for future robot to be able to learn autonomously and to interact safely with the environment i.e. without causing any harm to it or to the objects with ...

Biomimetic Sensing for Robotic Manipulation