We present a novel tactile sensor, which is applied for dextrous grasping with a simple robot gripper. The hardware novelty consists of an array of capacitive sensors, which couple to the object by means of little brushes of fibers. These sensor elements are very sensitive (with a threshold of about 5 mN) but robust enough not to be damaged during grasping. They yield two types of dynamical tac...

Dynamic tactile sensing allows humans to infer surface and material properties from the vibrations caused by the sliding motion between the skin and an object [1]. For example, one can easily determine the roughness of a surface by sliding one’s finger tip over the surface [2]. This sensory modality is also fundamental for tool usage, as it detects the vibrations resulting from the tool making ...

Most existing 3-D object recognition/localization systems rely on a single type of sensory data, although several sensors may be available in a robot task to provide information about the objects to be recognized. In this paper, we present a technique to localize polyhedral objects by integrating visual and tactile data. It is assumed that visual data is provided by a monocular visual sensor , ...

Tactile sensor systems are an essential prerequisite for the implementation of complex manipulation and exploration tasks using robots. Tactile exploration has not yet found its way into many laboratories, because most tactile sensors are technically demanding and expensive. The desire to perform real-time control and pattern recognition with tactile sensors led us to the design of a cost-effec...

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. Useful sensors include video cameras, tactile arrays, force gauges and proximity sensors. In this report, we focus on tactile sensors. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. We propose contr...

The sense of touch allows humans and higher animals to perform coordinated and efficient interactions within their environment. Recently, tactile sensor arrays providing high force, spatial, and temporal resolution became available for robotics, which allows us to consider new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks. Successf...

A framework of tactile telepresence systems has been proposed in the present paper, which enables active touch with time-delay communication between a tactile sensor side system and a display side system. In the framework, a tactile display system can apply tactile stimuli to fingers of an operator in syncronization with touch motions based on physical parameters of objects which are estimated ...

Tactile sensors of comprehensive functions are urgently needed for the advanced robot to co-exist and co-operate with human beings. Pneumatic tactile sensors based on air bladder possess some noticeable advantages for human-robot interaction application. In this paper, we construct a pneumatic tactile sensor and apply it on the fingertip of robot hand to realize the sensing of force, vibration ...