Relative movement evaluation between developed distributed-type tactile sensor and the contacting object

This paper describes an output algorithm that measures forces and moment acting on a developed distributed-type tactile sensor and evaluates relative movement with the contacting object. To realize advanced manipulation, it is necessary to acquire forces and moments acting on the fingertips of the r...

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Published in2005 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1659 - 1664
Main Authors Ito, A., Tsujiuchi, N., Koizumi, T., Oshima, H., Nojiri, Y., Tsuchiya, Y., Hirama, N., Kurogi, S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Capacitive sensors
Electric resistance
Force measurement
Force sensors
Indium tin oxide
relative movement evaluation
Robot sensing systems
rotational slip
sensor element
Service robots
Shape
Surface resistance
tactile sensor
Tactile sensors
translational slip
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Summary:This paper describes an output algorithm that measures forces and moment acting on a developed distributed-type tactile sensor and evaluates relative movement with the contacting object. To realize advanced manipulation, it is necessary to acquire forces and moments acting on the fingertips of the robot hand; it is also necessary to evaluate the relative movement between the contacting object and the sensor. An output algorithm for evaluating the relative movement for developed tactile sensor was created whose effectiveness was shown by experiments.
ISBN:0780389123
9780780389120
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1545215