Interpretation of the task status of a gripper from tactile sensor data

By characterizing the dynamic forces on a tactile sensor, it is possible to extract a tactile image during a grasping or a releasing operation. By modifying this procedure, two processing techniques suitable for the real-time extraction of a tactile image are obtained. The case study validates these procedures using experimental data obtained during grasping and releasing operations carried out on a test object. The implementation steps are discussed, and the applicability of the technique for real-time task status interpretation is analyzed