Estimating objects’ weight in precision grips using skin-like sensors

The estimation of object’s weight is a very challenging problem due to limitations on tactile technology and robust and fast controllers that can adapt to friction state changes. In this article we study the weight estimation using skin-like tactile sensors, which provide accurate 3 dimensional force measurements on the finger tips of Vizzy, a robot with human-like hands. The sensor reading from the fingertips are analyzed and segmented in order to find the most adequate stages of the movement for the computation of the weight. The analysis is based on the difference of the load force between the grasping and holding up stages, which provides a good estimation of the object’s weight for different objects and various repetitions of the experiments.