Fingertip Three-Axis Tactile Sensor for Multifingered Grasping
A fingertip three-axis tactile sensor system with the capability of measuring both normal and shear force distribution using quantum tunneling composites is presented. The practical design and fabrication of a tactile sensor for the robot fingertip are described in detail. Also, an integrated finger...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2015-08, Vol.20 (4), p.1875-1885 |
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| container_title | IEEE/ASME transactions on mechatronics |
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| creator | Zhang, Ting Jiang, Li Wu, Xinyu Feng, Wei Zhou, Dingjiang Liu, Hong |
| description | A fingertip three-axis tactile sensor system with the capability of measuring both normal and shear force distribution using quantum tunneling composites is presented. The practical design and fabrication of a tactile sensor for the robot fingertip are described in detail. Also, an integrated fingertip-shaped tactile sensor with 13 tactile cells is developed. The tactile sensor is mounted on a multifingered robotic hand fingertip, and its effectiveness is validated with experimental results. The fabricated fingertip tactile sensor shows that the full-scale range of detectable force are about 10, 10, and 20N for the x-, y-, and z -directions, respectively. Each detector response was proportional to the magnitude of the applied stress. The fingertip tactile sensor showed a high repeatability, low hysteresis, and minimal three-axis force crosstalk. Experiments are conducted with dynamic grasping force control, based on fingertip three-axis sensor feedback. The grasping force of the finger is adjusted adaptively to the three-axis tactile feedback, such that the force on each fingertip is restricted inside the friction cone without any undesired slip or detaching from the object when grasping it. |
| doi_str_mv | 10.1109/TMECH.2014.2357793 |
| format | Article |
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The practical design and fabrication of a tactile sensor for the robot fingertip are described in detail. Also, an integrated fingertip-shaped tactile sensor with 13 tactile cells is developed. The tactile sensor is mounted on a multifingered robotic hand fingertip, and its effectiveness is validated with experimental results. The fabricated fingertip tactile sensor shows that the full-scale range of detectable force are about 10, 10, and 20N for the x-, y-, and z -directions, respectively. Each detector response was proportional to the magnitude of the applied stress. The fingertip tactile sensor showed a high repeatability, low hysteresis, and minimal three-axis force crosstalk. Experiments are conducted with dynamic grasping force control, based on fingertip three-axis sensor feedback. The grasping force of the finger is adjusted adaptively to the three-axis tactile feedback, such that the force on each fingertip is restricted inside the friction cone without any undesired slip or detaching from the object when grasping it.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/TMECH.2014.2357793</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Arrays ; Control systems ; Control theory ; Electrodes ; Feedback ; Fingertip tactile sensor ; Force ; Grasping ; Grasping force ; multifingered hand ; Robots ; Secondary school students ; Sensors ; Tactile ; Tactile sensors ; three-axis tactile sensor</subject><ispartof>IEEE/ASME transactions on mechatronics, 2015-08, Vol.20 (4), p.1875-1885</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2015</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c534t-b68d7885bf18c6351e6ce1cbbbc31cd25dd40419ed334464a672c159fa6854013</citedby><cites>FETCH-LOGICAL-c534t-b68d7885bf18c6351e6ce1cbbbc31cd25dd40419ed334464a672c159fa6854013</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6918529$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6918529$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Zhang, Ting</creatorcontrib><creatorcontrib>Jiang, Li</creatorcontrib><creatorcontrib>Wu, Xinyu</creatorcontrib><creatorcontrib>Feng, Wei</creatorcontrib><creatorcontrib>Zhou, Dingjiang</creatorcontrib><creatorcontrib>Liu, Hong</creatorcontrib><title>Fingertip Three-Axis Tactile Sensor for Multifingered Grasping</title><title>IEEE/ASME transactions on mechatronics</title><addtitle>TMECH</addtitle><description>A fingertip three-axis tactile sensor system with the capability of measuring both normal and shear force distribution using quantum tunneling composites is presented. The practical design and fabrication of a tactile sensor for the robot fingertip are described in detail. Also, an integrated fingertip-shaped tactile sensor with 13 tactile cells is developed. The tactile sensor is mounted on a multifingered robotic hand fingertip, and its effectiveness is validated with experimental results. The fabricated fingertip tactile sensor shows that the full-scale range of detectable force are about 10, 10, and 20N for the x-, y-, and z -directions, respectively. Each detector response was proportional to the magnitude of the applied stress. The fingertip tactile sensor showed a high repeatability, low hysteresis, and minimal three-axis force crosstalk. Experiments are conducted with dynamic grasping force control, based on fingertip three-axis sensor feedback. The grasping force of the finger is adjusted adaptively to the three-axis tactile feedback, such that the force on each fingertip is restricted inside the friction cone without any undesired slip or detaching from the object when grasping it.</description><subject>Arrays</subject><subject>Control systems</subject><subject>Control theory</subject><subject>Electrodes</subject><subject>Feedback</subject><subject>Fingertip tactile sensor</subject><subject>Force</subject><subject>Grasping</subject><subject>Grasping force</subject><subject>multifingered hand</subject><subject>Robots</subject><subject>Secondary school students</subject><subject>Sensors</subject><subject>Tactile</subject><subject>Tactile sensors</subject><subject>three-axis tactile sensor</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkEtLw0AQx4MoWKtfQC8BL15Sd_aR3b0IpfQhtHgwgreQbCaakiZxNwH99m4fePAwzIPff5j5B8EtkAkA0Y_JZj5bTSgBPqFMSKnZWTACzSHyo_dzXxPFIs6ZuAyunNsSQjgQGAVPi6r5QNtXXZh8WsRo-l25MMlMX9UYvmLjWhuWPjZD3VflAcYiXNrMdb65Di7KrHZ4c8rj4G0xT2araP2yfJ5N15ERjPdRHqtCKiXyEpSJmQCMDYLJ89wwMAUVRcH9QRoLxjiPeRZLakDoMouV4ATYOHg47u1s-zWg69Nd5QzWddZgO7gUJPMfSUW0R-__odt2sI2_zlOESsmo2i-kR8rY1jmLZdrZapfZnxRIurc0PVia7i1NT5Z60d1RVCHinyDWoATV7BeHZ3DQ</recordid><startdate>20150801</startdate><enddate>20150801</enddate><creator>Zhang, Ting</creator><creator>Jiang, Li</creator><creator>Wu, Xinyu</creator><creator>Feng, Wei</creator><creator>Zhou, Dingjiang</creator><creator>Liu, Hong</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope></search><sort><creationdate>20150801</creationdate><title>Fingertip Three-Axis Tactile Sensor for Multifingered Grasping</title><author>Zhang, Ting ; Jiang, Li ; Wu, Xinyu ; Feng, Wei ; Zhou, Dingjiang ; Liu, Hong</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c534t-b68d7885bf18c6351e6ce1cbbbc31cd25dd40419ed334464a672c159fa6854013</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Arrays</topic><topic>Control systems</topic><topic>Control theory</topic><topic>Electrodes</topic><topic>Feedback</topic><topic>Fingertip tactile sensor</topic><topic>Force</topic><topic>Grasping</topic><topic>Grasping force</topic><topic>multifingered hand</topic><topic>Robots</topic><topic>Secondary school students</topic><topic>Sensors</topic><topic>Tactile</topic><topic>Tactile sensors</topic><topic>three-axis tactile sensor</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zhang, Ting</creatorcontrib><creatorcontrib>Jiang, Li</creatorcontrib><creatorcontrib>Wu, Xinyu</creatorcontrib><creatorcontrib>Feng, Wei</creatorcontrib><creatorcontrib>Zhou, Dingjiang</creatorcontrib><creatorcontrib>Liu, Hong</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE/ASME transactions on mechatronics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Zhang, Ting</au><au>Jiang, Li</au><au>Wu, Xinyu</au><au>Feng, Wei</au><au>Zhou, Dingjiang</au><au>Liu, Hong</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Fingertip Three-Axis Tactile Sensor for Multifingered Grasping</atitle><jtitle>IEEE/ASME transactions on mechatronics</jtitle><stitle>TMECH</stitle><date>2015-08-01</date><risdate>2015</risdate><volume>20</volume><issue>4</issue><spage>1875</spage><epage>1885</epage><pages>1875-1885</pages><issn>1083-4435</issn><eissn>1941-014X</eissn><coden>IATEFW</coden><abstract>A fingertip three-axis tactile sensor system with the capability of measuring both normal and shear force distribution using quantum tunneling composites is presented. The practical design and fabrication of a tactile sensor for the robot fingertip are described in detail. Also, an integrated fingertip-shaped tactile sensor with 13 tactile cells is developed. The tactile sensor is mounted on a multifingered robotic hand fingertip, and its effectiveness is validated with experimental results. The fabricated fingertip tactile sensor shows that the full-scale range of detectable force are about 10, 10, and 20N for the x-, y-, and z -directions, respectively. Each detector response was proportional to the magnitude of the applied stress. The fingertip tactile sensor showed a high repeatability, low hysteresis, and minimal three-axis force crosstalk. Experiments are conducted with dynamic grasping force control, based on fingertip three-axis sensor feedback. The grasping force of the finger is adjusted adaptively to the three-axis tactile feedback, such that the force on each fingertip is restricted inside the friction cone without any undesired slip or detaching from the object when grasping it.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TMECH.2014.2357793</doi><tpages>11</tpages></addata></record> |
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| subjects | Arrays Control systems Control theory Electrodes Feedback Fingertip tactile sensor Force Grasping Grasping force multifingered hand Robots Secondary school students Sensors Tactile Tactile sensors three-axis tactile sensor |
| title | Fingertip Three-Axis Tactile Sensor for Multifingered Grasping |
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