TY - GEN
T1 - FingerVision with Whiskers
T2 - 5th IEEE International Conference on Robotic Computing, IRC 2021
AU - Yamaguchi, Akihiko
N1 - Funding Information:
ACKNOWLEDGMENT Yamaguchi was supported in part by NSK Foundation for the Advancementof Mechatronics, and the Canon Foundation 10th Research Grant Program (K18-0105).
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In order to increase the sensitivity of the vision-based tactile sensor FingerVision especially to normal force, we explore an idea of introducing whiskers as an alternative to markers. Since whiskers deforms more largely against light touch than markers, the image change of the FingerVision camera is larger, and thus the resolution of force is increased. In this paper, we fabricate and compare some versions of FingerVision with whiskers. The empirical comparisons demonstrate that the idea to introduce whiskers work as we expect. This paper also demonstrates intuitive applications, pulling a tissue paper grasped by a robot and poking a standing pencil by a robot.
AB - In order to increase the sensitivity of the vision-based tactile sensor FingerVision especially to normal force, we explore an idea of introducing whiskers as an alternative to markers. Since whiskers deforms more largely against light touch than markers, the image change of the FingerVision camera is larger, and thus the resolution of force is increased. In this paper, we fabricate and compare some versions of FingerVision with whiskers. The empirical comparisons demonstrate that the idea to introduce whiskers work as we expect. This paper also demonstrates intuitive applications, pulling a tissue paper grasped by a robot and poking a standing pencil by a robot.
KW - FingerVision
KW - Robotic manipulation
KW - Tactile sensor
UR - http://www.scopus.com/inward/record.url?scp=85127064271&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85127064271&partnerID=8YFLogxK
U2 - 10.1109/IRC52146.2021.00015
DO - 10.1109/IRC52146.2021.00015
M3 - Conference contribution
AN - SCOPUS:85127064271
T3 - Proceedings - 2021 5th IEEE International Conference on Robotic Computing, IRC 2021
SP - 56
EP - 64
BT - Proceedings - 2021 5th IEEE International Conference on Robotic Computing, IRC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 November 2021 through 17 November 2021
ER -