Paper Info
Title
High sensitivity initial slip sensor for dexterous grasp
Abstract
Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits the characteristics of pressure conductive rubber. However, using this sensor, it was difficult to distinguish between object slip and a change in the normal force. Therefore, in the present research, we investigated a method for identifying object slip by analyzing the frequency components of the output signal from the sensor. As a result, we found that high-frequency components of 1 kHz or more are included in the complex voltage signal generated by object slip. Therefore, by using this high-frequency component, we developed a simple sensor that distinguished between both contact and initial slip with high sensitivity.
Year
DOI
Venue
2010
10.1109/ROBOT.2010.5509288
Robotics and Automation
Keywords
Field
DocType
dexterous manipulators,research and development,tactile sensors,complex voltage signal,dexterous grasp,high sensitivity initial slip sensor,high-frequency component,human-like gripping motion,pressure conductive rubber,research and development,robot hand,slip-detecting tactile sensors
Signal processing,GRASP,Voltage,Electrical conductor,Slip (materials science),Control engineering,Engineering,Normal force,Humanoid robot,Tactile sensor
Conference
Volume
Issue
ISSN
2010
1
1050-4729 E-ISBN : 978-1-4244-5040-4
ISBN
Citations 
PageRank 
978-1-4244-5040-4
5
0.61
References 
Authors
3
5
Name
Order
Citations
PageRank
Seiichi Teshigawara1133.56
Kenjiro Tadakuma29533.86
Aiguo Ming317741.26
Masatoshi Ishikawa4903163.13
Makoto Shimojo518342.59