Dextrous robot hands need to be able to determine the pose of objects to reliably grasp and manipulate them. The first few contacts with an object can be used to provide an initial estimate of this information if we constrain the object to be of a particular class. This paper considers a simple example of exploiting class constraints: finding the axis of an unknown surface of revolution. Three ...

We discuss here about the realization of tactile sensor based on the principle of change in piezoelectric resonance frequency with the applied pressure. An array of electrodes has been adopted on either side of the PZT material to have independent resonators. The common areas sandwiched between the electrodes and excitable at resonance frequency of the PZT material are used to form the sensitiv...

Tactile sensors capable of sensing normal and shearing force produced on a robotic finger and an object are useful for fitting a dextrose hand that can be applied to tasks that require human-like handling. Examples include such manufacturing tasks as assembly, disassembly, inspection, and materials handing. Especially in the case of humanoid robots, grasping slippery or flexible objects is requ...

Considering tactile sensors there are two ways to acquire object information. These are spatial sensing with two dimensional devices and fast sensing with simple devices. Because the reflection-type tactile sensor uses a reflection image, both methods can be employed. Though there exist some dynamic characteristics in these two ways. In this study, we first validate the hysteresis of the reflec...

This report presents the development of tactile sensing-based control architecture in a multi-fingered humanoid robot arm for object manipulation tasks. With the aim to enhance the ability to recognize and manipulate object in humanoid robot, we developed a novel optical three-axis tactile sensor system mounted on fingertips of the humanoid robot fingers. This tactile sensor applies an optical ...

Abstract In this paper, we will propose a simple contact model of a soft fingertip based on geometrical analysis and statics of the fingertip. First, we introduce a virtual spring system to the soft fingertip corresponding to one and twodimensional contact between a planar object and a soft fingertip. Second, we describe pressure distribution, and estimate that equation by simulating and measur...

This paper presents the design, modeling, and testing of a flexible tactile sensor and its applications. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the deflection of the membrane with measuring the strain in the membrane with emb...

A tactile sensor is a device that can measure a given property of an object or contact event through physical contact between the sensor and the object. Traditionally, tactile sensors have been developed using measurements of strain produced in sensing materials that are detected using physical quantities such as electric resistance and capacity, magnetic intensity, voltage and light intensity ...

This paper presents the development of a tactile sensor based on pressure sensitive conductive rubber and outlines the resistance measurements performance. This sensor is specially designed for a robotic hand developed at UiTM Faculty of Mechanical Engineering. It exhibits piezoresistive like behaviour whose resistance change with force/pressure enables its applications as tactile sensor. The o...