A new method of tactile sensing using fingertip with soft skin
نویسندگان
چکیده
This paper describes a sensing function of a multijointed 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.
منابع مشابه
Tactile Sensing of Edge Direction of an Object using a Robotic Fingertip with Soft Skin
We propose a new method of tactile sensing for a fingertip of robotic hand. Using a simple fingertip with soft surface cover and a six-axis force/moment sensor, developed is a new function of measuring direction of edge when the fingertip contacts with an edge of the object. The developed function is useful not only to plan strategies for stable grasp and dexterous manipulation but also to reco...
متن کاملModeling of soft fingertip for object manipulation using tactile sensing
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...
متن کاملModeling the Human Touch: A FEM Model of the Human Hand Fingertips for Haptic Application
Performance of tactile sensation, which plays an important role in artificial skin, fingers for Robotics, and wearable haptic device is affected by fingertip deformation characteristics produced when touching objects. In particular, tactile performance of human fingertips is strictly associated with activity of the nerve endings and sensitivity of the soft tissue within the fingertip to the sta...
متن کاملSeeing by Touch: Evaluation of a Soft Biologically-Inspired Artificial Fingertip in Real-Time Active Touch
Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechanisms within human skin and offers a robust solution that can be used both for tactile sensing and gripping/manipulating objects. The softness of th...
متن کاملRobot Finger Design for Developmental Tactile Interaction: Anthropomorphic Robotic Soft Fingertip with Randomly Distributed Receptors
The developmental approach enables us to build adaptive robots, and furthermore, to understand the essence of intelligence from the constructivist viewpoint. In this paper, a new design principle for tactile sensors is proposed to investigate and to utilize developmental processes of robots. Based on the design principle, an anthropomorphic fingertip is developed. The fingertip is made of soft ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2003