Sensing surface shape by touch

The design and construction of a tactile sensor that has been developed to measure the surface shape of objects held between the fingers of a robot gripper are described. A robotic tactile sensory workcell has been assembled to investigate touch-mediated grasping and object manipulation. This system requires sensors to provide surface profile information for experiments involving object manipulation and shape determination. A piezoresistive tactile sensor originally developed for the workcell proved to be generally unsuitable because its stiff sensing surface gave little surface shape information. A solution was provided by a tactile sensor designed to have a compliant structure.<<ETX>>

[1]  R. Andrew Russell,et al.  An adroit robot gripper for tactile sensor research , 1991 .

[2]  Heinrich A. Ernst,et al.  MH-1, a computer-operated mechanical hand , 1962, AIEE-IRE '62 (Spring).

[3]  R. Andrew Russell.  Compliant-skin tactile sensor , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

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

[5]  Peter K. Allen,et al.  Mapping haptic exploratory procedures to multiple shape representations , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[6]  William C. Nowlin,et al.  Experimental results on Bayesian algorithms for interpreting compliant tactile sensing data , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[7]  James J. Clark.  A magnetic field based compliance matching sensor for high resolution, high compliance tactile sensing , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[8]  Roger W. Brockett.  Robotic hands with rheological surfaces , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[9]  Gen-ichiro Kinoshita,et al.  Representation and tactile sensing of 3-D objects by a gripper finger , 1983, Robotica.

[10]  R. A. Russell.  Tactile Sensing And Grasp Security , 1992, IEEE International Workshop on Emerging Technologies and Factory Automation,.