Acquisition of Slip Phenomenon between Developed Distributed-Type Force Sensor and the Contacted Object

This paper describes output algorithms to evaluate slip, using our developed distributed-type force sensor. To realize advanced manipulation, it is necessary to acquire the forces and moments applied to the fingertips of the robot hand, and to evaluate the slip between the contacted object and the sensor. The algorithms continuously detect translational micro- and macro-slip. Micro-slip is detected from vibration information output by strain gauges attached to the surface of each sensor element, while macro-slip is detected as movement of the center of pressure distribution. The experiments demonstrate the effectiveness of this algorithm

[1]  Masahiro Ohka Actuator Technology for Tactile Displays , 2003 .

[2]  David M. Lane,et al.  Force and slip sensing for a dextrous underwater gripper , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[3]  Claudio Melchiorri,et al.  Tactile Sensing for Robotic Manipulation , 2001 .

[4]  Takayuki Koizumi,et al.  Relative movement evaluation between developed distributed-type tactile sensor and the contacting object , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  I. Fujimoto,et al.  Development of artificial finger skin to detect incipient slip for realization of static friction sensation , 2003, Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003..

[6]  M. Ohka,et al.  Sensing Characteristics of an Optical Three-Axis Tactile Sensor Under Combined Loading. , 1999 .

[7]  H. Shinoda,et al.  A tactile sensor using three-dimensional structure , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[8]  Minoru Asada,et al.  Sensing the texture of surfaces by anthropomorphic soft fingertips with multi-modal sensors , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[9]  Daisuke Sasaki,et al.  Development of Pressure Measurement Type Tactile Soft Sensor for Life Assist Robot , 2004 .

[10]  Takayuki Koizumi,et al.  Slip detection with distributed-type tactile sensor , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).