Artificial tactile sensing and haptic perception

A critical evaluation of the state of the art in tactile sensing is presented. Various fields of application such as prosthetic and teleoperation are covered, but particular attention is paid to advanced robotics. Tactile sensing modalities are discussed in some detail through reference to basic issues of contact mechanics to provide clues for the conception and design of artificial haptic systems capable of surface texture discrimination, stable object grasping, fine-form detection, hardness evaluation and thermal sensing.

[1]  J. Greenwood,et al.  Contact of nominally flat surfaces , 1966, Proceedings of the Royal Society of London. Series A. Mathematical and Physical Sciences.

[2]  J. Greenwood,et al.  The Elastic Contact of Rough Spheres , 1967 .

[3]  P W Brand,et al.  Pressure sensitive devices for denervated hands and feet. A preliminary communication. , 1969, The Journal of bone and joint surgery. American volume.

[4]  Johnson Jb,et al.  Proceedings: A tactile prosthetic device for the denervated hand. , 1974 .

[5]  M. M. Taylor,et al.  Tactile roughness of grooved surfaces: A model and the effect of friction , 1975 .

[6]  R Tomovi,et al.  Multifunctional terminal device with adaptive grasping force , 1975 .

[7]  Y. Kudo,et al.  Artificial softness sensing—an automatic apparatus for measuring viscoelasticity , 1977 .

[8]  A K Bejczy,et al.  Sensors, Controls, and Man-Machine Interface for Advanced Teleoperation , 1980, Science.

[9]  J. Kenneth Salisbury,et al.  Articulated Hands , 1982 .

[10]  W. Daniel Hillis,et al.  A High-Resolution Imaging Touch Sensor , 1982 .

[11]  Leon D. Harmon,et al.  Automated Tactile Sensing , 1982 .

[12]  A. K. Bejczy.  Touch Sensor Responds to Contact Pressure , 1982 .

[13]  Marc H. Raibert,et al.  Design and Implementation of a VLSI Tactile Sensing Computer , 1982 .

[14]  E M Hennig,et al.  A piezoelectric method of measuring the vertical contact stress beneath the human foot. , 1982, Journal of biomedical engineering.

[15]  T. Okada.  Development of an Optical Distance Sensor for Robots , 1982 .

[16]  Johnson Ko.  Neural mechanisms of tactual form and texture discrimination. , 1983 .

[17]  Antal K. Bejczy,et al.  Control of robot manipulators for handling and assembly in space , 1983 .

[18]  G. Beni,et al.  A Torque-Sensitive Tactile Array for Robotics , 1983 .

[19]  Paolo Dario,et al.  Ferroelectric polymer tactile sensors with anthropomorphic features , 1984, ICRA.

[20]  C. D. Baker,et al.  Ultrasonic PVF2 transducers for sensing tactile force , 1984 .

[21]  Thomas B. Sheridan,et al.  An optical tactile sensor for manipulators , 1984 .

[22]  John Kenneth Salisbury,et al.  Interpretation of contact geometries from force measurements , 1984, ICRA.

[23]  Paolo Dario,et al.  Pyroelectric sensing station for automatic recognition of position and orientation of objects , 1984 .

[24]  Paolo Dario,et al.  Ferroelectric polymer tactile sensors for prostheses , 1984 .

[25]  J. Greenwood.  A unified theory of surface roughness , 1984, Proceedings of the Royal Society of London. A. Mathematical and Physical Sciences.

[26]  Marc H. Raibert,et al.  An all digital VLSI tactile array sensor , 1984, ICRA.

[27]  R. Andrew Russell.  A Thermal Sensor Array to Provide Tactile Feedback for Robots , 1985 .

[28]  Danilo Emilio De Rossi,et al.  Tactile sensors and the gripping challenge , 1985 .

[29]  Ren-Chyuan Luo,et al.  An Imaging Tactile Sensor With Magnetostrictive Transduction , 1985, Other Conferences.

[30]  John M. Hollerbach,et al.  Basic Solid Mechanics for Tactile Sensing , 1984, ICRA.

[31]  D. De Rossi,et al.  Tactile sensors and the gripping challenge: Increasing the performance of sensors over a wide range of force is a first step toward robotry that can hold and manipulate objects as humans do , 1985, IEEE Spectrum.

[32]  K. Johnson,et al.  The contact of elastic regular wavy surfaces , 1985 .

[33]  K.D. Wise,et al.  A high-performance silicon tactile imager based on a capacitive cell , 1985, IEEE Transactions on Electron Devices.

[34]  Bernard Roth,et al.  Analysis of Multifingered Hands , 1986 .

[35]  Michael R. Neuman,et al.  Sensors for Use with Functional Neuromuscular Stimulation , 1986, IEEE Transactions on Biomedical Engineering.

[36]  Ronald S. Fearing,et al.  Implementing a force strategy for object re-orientation , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[37]  Mark R. Cutkosky,et al.  Friction, Stability and the Design of Robotic Fingers , 1986 .

[38]  D. De Rossi,et al.  Biomimetic tactile sensor with stress-component discrimination capability , 1987 .

[39]  J. Foley.  Interfaces for advanced computing , 1987 .

[40]  Ruzena Bajcsy,et al.  Object exploration in one and two fingered robots , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[41]  Ronald S. Fearing,et al.  A Tactile Sensing Finger Tip for a Dextrous Hand , 1987, Other Conferences.

[42]  David Dornfeld,et al.  Slip detection using acoustic emission signal analysis , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[43]  John G. Webster,et al.  Tactile Sensors for Robotics and Medicine , 1988 .

[44]  N. Maalej,et al.  A miniature electrooptical force transducer , 1988, IEEE Transactions on Biomedical Engineering.

[45]  Imin Kao,et al.  The sliding of robot fingers under combined torsion and shear loading , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[46]  D. De Rossi,et al.  Artificial sensing skin mimicking mechanoelectrical conversion properties of human dermis , 1988, IEEE Transactions on Biomedical Engineering.

[47]  Martin Peckerar,et al.  Neutral networks for tactile perception , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[48]  Stefan Begej,et al.  Planar and finger-shaped optical tactile sensors for robotic applications , 1988, IEEE J. Robotics Autom..

[49]  Barry Steer.  Trajectory Planning for a Mobile Robot , 1989, Int. J. Robotics Res..

[50]  Mark H. Lee,et al.  A Survey of Robot Tactile Sensing Technology , 1989, Int. J. Robotics Res..

[51]  D. Rossi,et al.  Shear stress detection in an elastic layer by a piezoelectric polymer tactile sensor , 1989 .

[52]  Mark R. Cutkosky,et al.  Sensing skin acceleration for slip and texture perception , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[53]  J. L. Novak,et al.  Initial design and analysis of a capacitive sensor for shear and normal force measurement , 1988, Proceedings, 1989 International Conference on Robotics and Automation.

[54]  B V Jayawant.  Tactile sensing in robotics , 1989 .

[55]  Thomas C. Henderson,et al.  A Survey of General- Purpose Manipulation , 1989, Int. J. Robotics Res..

[56]  A. Caiti,et al.  Inversion Of Tactile Data Through A Skin-like Sensor Sensitive To Stress Components , 1990, [1990] Proceedings of the Twelfth Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[57]  Susumu Sugiyama,et al.  Tactile image detection using a 1k-element silicon pressure sensor array , 1990 .

[58]  A. Bicchi.  A Criterion for the Optimal Design of Multiaxis Force Sensors , 1990 .

[59]  John Kenneth Salisbury,et al.  Contact Sensing from Force Measurements , 1990, Int. J. Robotics Res..