Slip detection with distributed-type tactile sensor

This paper describes development of a distributed-type tactile sensor. This sensor arranges many sensor elements that can measure a triaxial force on the same plane. Therefore, the action force can be measured with the pressure distribution. Since the relative movement of a sensor and a contacted ob...

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Hauptverfasser:	Tsujiuchi, N., Koizumi, T., Ito, A., Oshima, H., Nojiri, Y., Tsuchiya, Y., Kurogi, S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Applied sciences Capacitive sensors Computer science control theory systems Control theory. Systems Electric resistance Exact sciences and technology Force measurement Force sensors Mechanical engineering Mechanical sensors Pressure measurement Robot sensing systems Robotics Signal processing algorithms Tactile sensors
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Beschreibung
Zusammenfassung:	This paper describes development of a distributed-type tactile sensor. This sensor arranges many sensor elements that can measure a triaxial force on the same plane. Therefore, the action force can be measured with the pressure distribution. Since the relative movement of a sensor and a contacted object can be evaluated by measuring the pressure distribution, a slip is detectable. Experimental results prove the validity of the sensor elements' output values. Moreover, the simulation shows that this sensor can detect a slip.
DOI:	10.1109/IROS.2004.1389373