High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information
We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/691769 |
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| _version_ | 1832566724408377344 |
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| author | Wataru Fukui Futoshi Kobayashi Fumio Kojima Hiroyuki Nakamoto Nobuaki Imamura Tadashi Maeda Hidenori Shirasawa |
| author_facet | Wataru Fukui Futoshi Kobayashi Fumio Kojima Hiroyuki Nakamoto Nobuaki Imamura Tadashi Maeda Hidenori Shirasawa |
| author_sort | Wataru Fukui |
| collection | DOAJ |
| description | We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments. |
| format | Article |
| id | doaj-art-eae758c7d18247babca8680b76d337e2 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-eae758c7d18247babca8680b76d337e22025-02-03T01:03:30ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/691769691769High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile InformationWataru Fukui0Futoshi Kobayashi1Fumio Kojima2Hiroyuki Nakamoto3Nobuaki Imamura4Tadashi Maeda5Hidenori Shirasawa6Department of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, JapanDepartment of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, JapanDepartment of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, JapanHyogo Prefectural Institute of Technology, Hyogo 654-0037, JapanMaeda Precision Mfg, Co., Ltd., Kobe 650-0017, JapanHiroshima International University, Kure 737-0112, JapanThe Advanced Materials Processing Institute Kinki Japan, Hyogo 660-0083, JapanWe have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.http://dx.doi.org/10.1155/2011/691769 |
| spellingShingle | Wataru Fukui Futoshi Kobayashi Fumio Kojima Hiroyuki Nakamoto Nobuaki Imamura Tadashi Maeda Hidenori Shirasawa High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information Journal of Robotics |
| title | High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information |
| title_full | High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information |
| title_fullStr | High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information |
| title_full_unstemmed | High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information |
| title_short | High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information |
| title_sort | high speed tactile sensing for array type tactile sensor and object manipulation based on tactile information |
| url | http://dx.doi.org/10.1155/2011/691769 |
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