High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

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: Wataru Fukui, Futoshi Kobayashi, Fumio Kojima, Hiroyuki Nakamoto, Nobuaki Imamura, Tadashi Maeda, Hidenori Shirasawa
Format: Article
Language:English
Published: Hindawi Limited 2011-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2011/691769
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spelling doaj-eae758c7d18247babca8680b76d337e22020-11-24T22:26:04ZengHindawi LimitedJournal 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
collection DOAJ
language English
format Article
sources DOAJ
author Wataru Fukui
Futoshi Kobayashi
Fumio Kojima
Hiroyuki Nakamoto
Nobuaki Imamura
Tadashi Maeda
Hidenori Shirasawa
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
author_facet Wataru Fukui
Futoshi Kobayashi
Fumio Kojima
Hiroyuki Nakamoto
Nobuaki Imamura
Tadashi Maeda
Hidenori Shirasawa
author_sort Wataru Fukui
title 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_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_sort high-speed tactile sensing for array-type tactile sensor and object manipulation based on tactile information
publisher Hindawi Limited
series Journal of Robotics
issn 1687-9600
1687-9619
publishDate 2011-01-01
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.
url http://dx.doi.org/10.1155/2011/691769
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AT futoshikobayashi highspeedtactilesensingforarraytypetactilesensorandobjectmanipulationbasedontactileinformation
AT fumiokojima highspeedtactilesensingforarraytypetactilesensorandobjectmanipulationbasedontactileinformation
AT hiroyukinakamoto highspeedtactilesensingforarraytypetactilesensorandobjectmanipulationbasedontactileinformation
AT nobuakiimamura highspeedtactilesensingforarraytypetactilesensorandobjectmanipulationbasedontactileinformation
AT tadashimaeda highspeedtactilesensingforarraytypetactilesensorandobjectmanipulationbasedontactileinformation
AT hidenorishirasawa highspeedtactilesensingforarraytypetactilesensorandobjectmanipulationbasedontactileinformation
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