Object detection by tactile sensing method employing force/torque information

An object shape detection system using a force/torque sensor and an insensitive probe is proposed. the development of a tactile sensing method is which makes it possible to estimate a contact position on the probe by measuring only contact force is presented. Though the probe itself is not sensitive, the method derives the contact position from force information measured by the sensor. The estimated values do not depend on either the magnitude or the direction of the force. The method can be with any probes of any shape and material. This method is applied to a manipulator system, and object shape detection experiments are conducted using two types of probes. Shapes of three-dimensional objects are successfully reproduced. The results confirm that the method enables the manipulator system to detect objects without precise control