High sensitivity initial slip sensor for dexterous grasp

Seiichi Teshigawara, Kenjiro Tadakuma, Aiguo Ming, Masatoshi Ishikawa, Makoto Shimojo

研究成果: Conference contribution

27 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ4867-4872
ページ数6
DOI
出版ステータスPublished - 2010 8 26
外部発表はい
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
継続期間: 2010 5 32010 5 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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