DocumentCode :
3666775
Title :
An anthropomorphic tactile sensor system with its applications in dexterous manipulations
Author :
Damith Suresh Chathuranga;Zhongkui Wang;Shinichi Hirai
Author_Institution :
Department of Robotics, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan
fYear :
2015
fDate :
6/1/2015 12:00:00 AM
Firstpage :
1085
Lastpage :
1090
Abstract :
We present the development of an anthropomorphic fingertip system that can be used in tactile sensing. These fingertips can detect force and vibrational modalities through force sensors and accelerometers. Among the advantages of this tactile system is its low cost and reliable construction. This fingertip was evaluated in grasping, manipulating and environment perception tasks. We present systems and methods that could be used to detect the presence or absence of contact, as well as for contact localization, incipient slip detection, classification of material stiffness, and contour tracking. Analysis of spatio-temporal data obtained by sensors provides enough information for object manipulation and environment perception.
Keywords :
"Accelerometers","Force sensors","Force","Robot sensing systems","Vibrations","Skin"
Publisher :
ieee
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
Print_ISBN :
978-1-4799-8728-3
Type :
conf
DOI :
10.1109/CYBER.2015.7288096
Filename :
7288096
Link To Document :
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