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.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Kouji Murakami, Tsutomu Hasegawa
• Keywords: IROS 2006, Robotic Hand, Robotics, Six-axis Force/torque Sensor, Soft Surface Cover