A method to detect pre-slip by controlling the normal force as measured by tactile sensor arrays has been developed. A predictive model has been proposed which uses a basic method adapted to real applications in grasp optimization. Prevention of premature release with minimum prehension force is addressed without the need to measure the coefficient of friction between object and robot gripper. ...

Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and force information relating to contact. This paper describes a robotic hand system that uses a limited set of native joint position and force sensing along with custom designed tactile sensors and real-time vision modules to accurately compute nger contacts and applied forces for grasping ...

A new flexible piezoelectric tactile sensor array based on polyvinylidene fluoride (PVDF) film is proposed for measuring three-axis dynamic contact force distribution. The array consists of six tactile units arranged as a 3 × 2 matrix with spacing 8 mm between neighbor units. In each unit, a PVDF film is sandwiched between four square-shaped upper electrodes and one square-shaped lower electrod...

Computational model of how vision system reconstructs the world information from visual stimulus has been studied so far (Marr 1982). Many of the famous achievements done by David Marr have been applied to the computer vision studies in the engineering field. On the other hand, little is known about how people can reconstruct 3D information from 2D stimulus distribution in the sense of touch. I...

Whereas vision and force feedback – either at the wrist or at the joint level – for robotic manipulation purposes has received considerable attention in the literature, the benefits that tactile sensors can provide when combined with vision and force have been rarely explored. In fact, there are some situations in which vision and force feedback cannot guarantee robust manipulation. Vision is f...

In recent years, many tactile sensors have been developed with the advancement in robotics. For example, there are sensors that measure the distribution of the contact state or the force distribution. Among the several tactile sensors in use currently, none can evaluate the sense of gentle touch. We have developed a fibratus tactile sensor that uses the property of reflection. Using this sensor...

We developed a compact tactile sensor in order to guide the clinician or the self-user for non-invasive detection of lumps. The new design has an advantage over the existing discrete tactile sensors and detection methods by efficiently sensing force distribution over an area without any side effects. The sensor consists of 10×10 infrared emitter-detector pairs, a silicon-rubber elastic pad, and...