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IROS
2006
IEEE

Tactile Measurement of Local Contact Geometry Using Soft Fingertip with Force/Torque Sensor

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Tactile Measurement of Local Contact Geometry Using Soft Fingertip with Force/Torque Sensor
— We propose a new method of tactile sensing for a fingertip of robotic hand based on the analysis of the mechanical constraints imposed to the contact between the fingertip and the contacting object. Using a simple fingertip with soft surface cover and a six-axis force/torque sensor, a new function is developed to measure direction of local geometry of a class of objects when the fingertip contacts with them. The developed function is useful not only to plan strategies for stable grasp and dexterous manipulation but also to recognize a geometrical shape of an object. Two necessary components, a six-axis force/torque sensor and a soft skin, are commercially available. They will neither restrict design of a robotic fingertip nor badly affect essential functions of stable grasping and manipulation.
Kouji Murakami, Tsutomu Hasegawa
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Kouji Murakami, Tsutomu Hasegawa
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